Adaptive motion and force control of manipulators in constrained motion in the presence of parametric uncertainties both in the robot and contact surfaces are considered in this paper. A new constrained dynamic model is obtained to account for the effect of contact surface friction. An adaptive law is suggested with unknown parameters updated by both the motion and force tracking errors to guarantee asymptotic motion and force tracking without any persistent excitation conditions to be satisfied. The suggested controller has the expected PI type force feedback control structure with a low proportional (P) force feedback gain. Detailed simulation results are given to show the effectiveness of the proposed controller.
Adaptive Control of Robot Manipulators in Constrained Motion—Controller Design
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Yao, B., and Tomizuka, M. (September 1, 1995). "Adaptive Control of Robot Manipulators in Constrained Motion—Controller Design." ASME. J. Dyn. Sys., Meas., Control. September 1995; 117(3): 320–328. https://doi.org/10.1115/1.2799122
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