Adaptive position/force control for robot manipulators in contact with a rigid surface with uncertain parameters

DOI10.1016/J.EJCON.2015.01.003MaRDI QIDQ2011999zbMATH OpenOpenAlexFDO

Authors Javier Pliego-Jiménez, Marco A. Arteaga-Pérez

Publication date 27 July 2017

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

Full work available at URL https://doi.org/10.1016/j.ejcon.2015.01.003

zbMATH Keywords

adaptive controlforce controluncertain surface

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• scientific article; zbMATH DE number 1187498
• Adaptive Control of Robot Manipulators in Constrained Motion—Controller Design
• Adaptive control of robot contact tasks with on-line learning of planar surfaces
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Cites work

• scientific article; zbMATH DE number 4017400 (Why is no real title available?)
• Adaptive control of robot contact tasks with on-line learning of planar surfaces
• Decentralized control of cooperative robots without velocity-force measurements
• Feedback stabilization and tracking of constrained robots
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Perfect position/force tracking of robots with dynamical terminal sliding mode control
• Robust adaptive LQ control schemes

Cited in

(12)

• Time-varying parameter model reference adaptive control and its application to aircraft
• Transparent bilateral teleoperation interacting with unknown remote surfaces with a force/velocity observer design
• scientific article; zbMATH DE number 1187498 (Why is no real title available?)
• Intelligent fuzzy sliding mode control for complex robot system with disturbances
• A position/force control for a robot finger with soft tip and uncertain kinematics
• Adaptive force control with active damping for robot manipulators with bounded inputs
• Model reference adaptive control with adjustable gain for piezoelectric actuator
• Adaptive control of robot contact tasks with on-line learning of planar surfaces
• Telemanipulation of cooperative robots: a case of study
• Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control
• Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller
• Attitude tracking of rigid bodies using exponential coordinates and a disturbance observer

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