Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation.

Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation. Research Abstract Details 

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Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation. Abstract Text:

M S De Queiroz,J Hu,D M Dawson,T Burg,S R Donepudi,

In this paper, we design an adaptive position/force controller for robot manipulators during constrained motion. The proposed controller can compensate for parametric uncertainty while only requiring measurements of link position and end-effector force. A filtering technique is utilized to produce a pseudo-velocity error signal and thus, eliminate the need for link velocity measurements. The control strategy provides semiglobal asymptotic tracking performance for the end-effector position and the interaction force between the constraint and the end-effector. An experimental implementation of the proposed controller on a two-link planar robot is also presented.

Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation. Publishing Authors By Initials

MS De Queiroz,J Hu,DM Dawson,T Burg,SR Donepudi,

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Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation. Journal Published:

PUBLICATION TYPE: Journal Article

Journal: IEEE transactions on systems, man, and cybernetics

VOLUME: 27

Page Numbers: 796-809

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ISSN: 1083-4419

DAY: 11

MONTH: 02

YEAR: 1997

Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation. Information

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LANGUAGE: eng

NlmUniqueID: 9890044

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Grant and Affiliation Information for Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation.

AFFILIATION: Dept. of Electr. & Comput. Eng., Clemson Univ., SC.

Country: United States

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MEDLINETA: IEEE Trans Syst Man Cybern B C

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