Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
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Publication:1400320
DOI10.1016/S0005-1098(03)00002-5zbMath1033.93048OpenAlexW1987100249MaRDI QIDQ1400320
Chien Chern Cheah, Sadao Kawamura, Suguru Arimoto
Publication date: 13 August 2003
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/s0005-1098(03)00002-5
Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)
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Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control ⋮ A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration ⋮ Hybrid force/position control scheme for flexible joint robot with friction between and the end-effector and the environment ⋮ Decentralized control of cooperative robots without velocity-force measurements ⋮ Task space control of the robot manipulators with adaptive fuzzy global fast terminal sliding mode control in presence of dynamic and kinematic uncertainties ⋮ ANFIS-based an adaptive continuous sliding-mode controller for robot manipulators in operational space ⋮ Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model ⋮ Adaptive control of robot contact tasks with on-line learning of planar surfaces ⋮ Visual servoing tracking control of uncalibrated manipulators with a moving feature point
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