Force/position regulation for robot manipulators with unmeasurable velocities and uncertain gravity

DOI10.1016/0005-1098(96)00005-2zbMath0854.93088OpenAlexW2048342025MaRDI QIDQ1923081

Antonio Loría, Romeo S. Ortega

Publication date: 22 January 1997

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0005-1098(96)00005-2

zbMATH Keywords

robotic manipulatorssemiglobal asymptotic stabilityforce/position regulationuncertain gravity forcesunmeasurable velocities

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Related Items (1)

An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment

Cites Work

• Adaptive motion control of rigid robots: A tutorial
• Adaptive force control of robot manipulators
• Impedance Control: An Approach to Manipulation: Part III—Applications
• Feedback stabilization and tracking of constrained robots
• A New Feedback Method for Dynamic Control of Manipulators
• An adaptive impedance/force controller for robot manipulators
• Asymptotic observer design for constrained robot systems
• Adaptive hybrid force-position control for redundant manipulators
• Adaptive trajectory/force control scheme for constrained robot manipulators
• An adaptive force/position regulator for robot manipulators
• Global regulation of flexible joint robots using approximate differentiation
• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators

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