An adaptive impedance/force controller for robot manipulators

DOI10.1109/9.133190zbMath0737.93050OpenAlexW2108488477MaRDI QIDQ3981757

Rafael Kelly, Ricardo Carelli

Publication date: 26 June 1992

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.133190

zbMATH Keywords

global trackingmotion controlconstrained motion controlconstrained robots

Mathematics Subject Classification ID

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

Related Items (8)

Adaptive explicit force control of position-controlled manipulators ⋮ Robust motion and force control of constrained manipulators by learning ⋮ Combined adaptive and variable structure control for constrained robots ⋮ Force/position regulation for robot manipulators with unmeasurable velocities and uncertain gravity ⋮ A dynamic-compensation approach to impedance control of robot manipulators ⋮ Unnamed Item ⋮ Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators ⋮ Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking

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