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Hybrid force/position control for manipulators with motor dynamics using a sliding-adaptive approach

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1 Author(s)
Kwan, C.M. ; Autom. & Robotic. Res. Inst., Texas Univ., Arlington, TX, USA

A novel sliding-adaptive controller is developed which can achieve robustness to parameter variations in both manipulator and motor. When the system is in sliding mode, force, position and redundant joint velocity errors will approach zero irrespective of parametric uncertainties. No joint acceleration measurement is needed

Published in:

American Control Conference, Proceedings of the 1995  (Volume:1 )

Date of Conference:

21-23 Jun 1995