Adaptive Jacobian Force/Position Tracking Control of Robotic Manipulators in Compliant Contact with an Uncertain Surface

被引：6
|
作者：
Wang, Hanlei [1 ]
Xie, Yongchun [1 ]
机构：
[1] Chinese Acad Space Technol, Beijing Inst Control Engn, Natl Lab Space Intelligent Control, Beijing 100190, Peoples R China
来源：
ADVANCED ROBOTICS | 2009年 / 23卷 / 1-2期
关键词：
Adaptive control; force control; position control; uncertain kinematics; compliant contact; FORCE POSITION CONTROL; CONSTRAINED ROBOTS; HYBRID-POSITION; IMPEDANCE CONTROL; KINEMATICS; MOTION; DYNAMICS; VISION; FINGER;
D O I：
10.1163/156855308X392726
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Most research so far on force/position tracking control of robots has assumed that the kinematics and dynamics are exactly known. In this work, we deal with force/position tracking under uncertainties arising from robot kinematics, dynamics, surface stiffness and position with an emphasis on uncertain kinematics. A robot with uncertain kinematics and dynamics in contact with a compliant surface is considered. A new adaptive Jacobian controller has been designed to cope with the uncertain robot kinematics, dynamics, environmental stiffness and position. It is shown that the controller can achieve force and position tracking via Lyapunov stability analysis. Simulation results demonstrate the performance of the controller. (c) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009
引用
收藏
页码：165 / 183
页数：19
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