Adaptive Control of Robot Manipulators in Constrained Motion—Controller Design

DOI10.1115/1.2799122zbMath0847.93043OpenAlexW1977406024MaRDI QIDQ4859805

Bin Yao, Masayoshi Tomizuka

Publication date: 7 October 1996

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2799122

zbMATH Keywords

robotic systemsdry frictioncontact surfaceforce controlconstrained motionadaptive motion

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Contact in solid mechanics (74M15) Theories of friction (tribology) (74A55)

Related Items (5)

Robust Vibration/Force Control of a 2 D.O.F. Arm Having One Flexible Link with Artificial Pneumatic Actuators ⋮ A new test for stick-slip limit cycles in dry-friction oscillators with a small nonlinearity in the friction characteristic ⋮ Hybrid Constraint Space Dynamics and Control for Robot Manipulators ⋮ Adaptive recurrent neural network control of uncertain constrained nonholonomic mobile manipulators ⋮ Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators

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