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Adaptive force control of single-link mechanism with joint flexibility

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3 Author(s)
Kuang-Yow Lian ; Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan ; Jong-Hann Jean ; Li-Chen Fu

An adaptive force control, scheme is presented that enables a single-link mechanism with joint flexibility to track a desired force trajectory. A dynamic model of the link system is derived, based on which a two-stage controller is constructed. It is shown that although all the system parameters including environment stiffness are unknown except for some of their bounds, all signals inside the closed-loop system remain uniformly bounded. Moreover, the force tracking error is driven to zero asymptotically. Simulation examples are provided to demonstrate the effectiveness of the proposed controller

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Robotics and Automation, IEEE Transactions on  (Volume:7 ,  Issue: 4 )