Eigenvalue assignment and performance index based force-position control with self-tuning for robotic manipulators

The force-position controller is designed for robotic manipulator in the Cartesian coordinate system. A time series model is used for the controller design. An adaptive controller with self-tuning is determined (i) by minimizing a well defined quadratic performance criterion (ii) by pole placement. Comparison is made between the performance of the two controller. Successful simulations of force-position control using both controllers with self-tuning are presented.