Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.

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

zbMATH Keywords

automated systemsrobotsrobot dynamics and control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Related Items (9)

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

Cites Work

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• Impedance Control: An Approach to Manipulation: Part I—Theory
• Feedback stabilization and tracking of constrained robots

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