Robust adaptive force/motion control of constrained robots

DOI10.1049/IP-CTA:19960090MaRDI QIDQ4885786zbMATH OpenOpenAlexFDO

Authors Chi-Man Kwan

Publication date 12 November 1996

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1049/ip-cta:19960090

zbMATH Keywords

constrained rigid robotsforce/motion controlrobust adaptive controlsliding mode

Mathematics Subject Classification ID

Variable structure systems (93B12) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(19)

• Position and force control of two constrained robotic manipulators
• Minimum time trajectory optimization of CNC machining with tracking error constraints
• Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller
• Adaptive force control with active damping for robot manipulators with bounded inputs
• Comments on: ``Sliding-mode motion/force control of constrained robots by K. -Y. Lian and C. -R. Lin
• Adaptive motion/force tracking control of holonomic constrained mechanical systems: a unified viewpoint
• Force/motion control of constrained robots using sliding mode
• Robust force control for robotic manipulators
• Combined direct and indirect adaptive control of constrained robots
• Sliding-mode motion/force control of constrained robots
• Compliant motion control for robot manipulators
• Control of constrained robots including effects of joint flexibility and actuator dynamics
• Inverse Force and Motion Control of Constrained Elastic Robots
• scientific article; zbMATH DE number 1443104 (Why is no real title available?)
• A New Adaptive Robot Controller Taking Account of Motor Dynamics
• The Admissible Set for a Robotic System with Unilateral Constraint
• Control of constraint forces and trajectories in a rich sensory and actuation environment
• Design of the output sliding mode controller for MI non-linear perturbed systems
• Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators

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