Adaptive force control of robot manipulators

DOI10.1080/00207179008953523MaRDI QIDQ3481594zbMATH OpenOpenAlexFDO

Authors Ricardo Carelli, Rafael Kelly, Romeo Ortega

Publication date 1990

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179008953523

zbMATH Keywords

n-link robot manipulatorstracking force

Mathematics Subject Classification ID

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

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Cites work

• scientific article; zbMATH DE number 3513598 (Why is no real title available?)
• Model-Reference Adaptive Control—Stability, Parameter Convergence, and Robustness
• Robust adaptive control: Conditions for global stability
• State and parameter estimation for robotic manipulators using force measurements
• Strictly positive real matrices and the Lefschetz-Kalman-Yakubovich lemma

Cited in

(23)

• Adaptive computed torque control for rigid link manipulations
• An indirect adaptive robot controller
• Variable structure adaptive motion and force control of robot manipulators
• Direct adaptive impedance control including transition phases
• Dynamics of digital force control applied in rehabilitation robotics
• Force/position regulation for robot manipulators with unmeasurable velocities and uncertain gravity
• Adaptive force control with active damping for robot manipulators with bounded inputs
• Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control
• Design of an adaptive fuzzy estimator for force/position tracking in robot manipulators
• Adaptive control for robotic manipulators
• An adaptive control strategy for mechanical manipulators
• Haptic feedback enhancement through adaptive force scaling: theory and experiment
• Adaptive manipulator control: A case study
• scientific article; zbMATH DE number 1187498 (Why is no real title available?)
• An adaptive impedance/force controller for robot manipulators
• The application of the minimal control synthesis algorithm to the hybrid control of a class 1 manipulator
• Robust force control for robotic manipulators
• A globally convergent adaptive controller for robot manipulators
• An exponentially stable adaptive control for force and position tracking of robot manipulators
• Robust adaptive control for robot manipulators
• A generalised proportional-derivative force/vision controller for torque-driven planar robotic manipulators.
• Adaptive global tracking for robots with unknown link and actuator dynamics
• Composite adaptive control of robot manipulators

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