Adaptive and nonadaptive hybrid controllers for rheonomically constrained manipulators

DOI10.1016/S0005-1098(97)00220-3zbMath0938.93048WikidataQ126772225 ScholiaQ126772225MaRDI QIDQ1295146

Suguru Arimoto, Yun-Hui Liu

Publication date: 6 June 2000

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

trackingadaptive controlregulationexponential stabilitymanipulatorshybrid position/force controllerjoint-space orthogonalizationmoving geometric surfacenonadaptive force controlrobotic dynamics

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)

Related Items (1)

Perfect position/force tracking of robots with dynamical terminal sliding mode control

This page was built for publication: Adaptive and nonadaptive hybrid controllers for rheonomically constrained manipulators