{"title":"约束机器人机械臂的自适应力/运动控制","authors":"H. Yu, L. Seneviratne, S. Earles","doi":"10.1109/CCA.1993.348352","DOIUrl":null,"url":null,"abstract":"Following the line of the dynamic hybrid control method given by McClamroch and Wang (1988), two reduced, unconstrained robot models, in which the constraints are satisfied automatically, are introduced. An exponentially stable control law for both position tracking errors and force tracking errors is presented based on Lyapunov stability theory. When there exist robot dynamics parameter uncertainties, an adaptive control is proposed based on the previous control structure. The control law ensures the asymptotical convergence of the position tracking errors and boundedness of the force tracking errors.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Adaptive force/motion control of constrained robot manipulators\",\"authors\":\"H. Yu, L. Seneviratne, S. Earles\",\"doi\":\"10.1109/CCA.1993.348352\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Following the line of the dynamic hybrid control method given by McClamroch and Wang (1988), two reduced, unconstrained robot models, in which the constraints are satisfied automatically, are introduced. An exponentially stable control law for both position tracking errors and force tracking errors is presented based on Lyapunov stability theory. When there exist robot dynamics parameter uncertainties, an adaptive control is proposed based on the previous control structure. The control law ensures the asymptotical convergence of the position tracking errors and boundedness of the force tracking errors.<<ETX>>\",\"PeriodicalId\":276779,\"journal\":{\"name\":\"Proceedings of IEEE International Conference on Control and Applications\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1993-09-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE International Conference on Control and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCA.1993.348352\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE International Conference on Control and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.1993.348352","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Adaptive force/motion control of constrained robot manipulators
Following the line of the dynamic hybrid control method given by McClamroch and Wang (1988), two reduced, unconstrained robot models, in which the constraints are satisfied automatically, are introduced. An exponentially stable control law for both position tracking errors and force tracking errors is presented based on Lyapunov stability theory. When there exist robot dynamics parameter uncertainties, an adaptive control is proposed based on the previous control structure. The control law ensures the asymptotical convergence of the position tracking errors and boundedness of the force tracking errors.<>
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