Direct adaptive impedance control including transition phases

DOI10.1016/S0005-1098(96)00190-2zbMath0884.70035OpenAlexW2165613010MaRDI QIDQ1361319

C. Canudas de Wit, Bernard Brogliato

Publication date: 23 July 1997

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(96)00190-2

zbMATH Keywords

global asymptotic stabilityforce/position taskintegral force feedbacktime-varying impedancetwo-degree-of-freedom planar manipulator

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (4)

A dynamics formulation of general constrained robots ⋮ Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment ⋮ Improving performance of saturation-based PID controllers for rigid robots ⋮ Velocity observers for nonlinear mechanical systems subject to nonsmooth impacts

Cites Work

• Adaptive force control of robot manipulators
• Impedance Control: An Approach to Manipulation: Part III—Applications
• Feedback stabilization and tracking of constrained robots
• Force/position regulation of compliant robot manipulators
• On the control of finite-dimensional mechanical systems with unilateral constraints

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