Prescribed Performance Adaptive Control for Robot Force/Position Tracking

被引：6
|
作者：
Bechlioulis, C. [1 ]
Doulgeri, Z. [1 ]
Rovithakis, G. [1 ]
机构：
[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Thessaloniki 54124, Greece
来源：
2009 IEEE CONTROL APPLICATIONS CCA & INTELLIGENT CONTROL (ISIC), VOLS 1-3 | 2009年
关键词：
COMPLIANT CONTACT; POSITION TRACKING; FORCE CONTROL; STIFFNESS;
D O I：
10.1109/CCA.2009.5281169
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we propose an adaptive control law that achieves prescribed performance indices regarding the transient and steady state response of the robot force/position tracking errors and ensures no loss of contact of the robot end effector. A compliant contact with a planar surface is assumed and the control objective is satisfied under parametric uncertainties in the robot dynamics and the force deformation model. Simulation results confirm the theoretical findings and compare the proposed controller with a conventional one.
引用
下载
收藏
页码：920 / 925
页数：6
相关论文
共 50 条
  • [11] Adaptive Position/Force Control of Robot Manipulators with Force Estimation
    Homayounzade, Mohamadreza
    Keshmiri, Mehdi
    2014 SECOND RSI/ISM INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2014, : 736 - 741
  • [12] Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance
    Jiang, Canghua
    Teo, Kok Lay
    Xu, Honglei
    Caccetta, Louis
    Duan, Guang-Ren
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2015, 72 : 235 - 247
  • [13] Adaptive Neural Control of Robot Manipulator with Prescribed Performance
    Wang, Min
    Yang, Anle
    PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 510 - 515
  • [14] Prescribed Performance Bound-based Adaptive Tracking Control of a Mobile Robot with Visibility Constraints
    Qian, Rui
    Wang, Wei
    Han, Zhen
    PROCEEDINGS OF THE 2021 IEEE 16TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2021), 2021, : 207 - 212
  • [15] Adaptive Impedance Control for Force Tracking of the Chewing Robot
    Wang, Guifei
    Liu, Jukang
    Ma, Xiaoli
    Xi, Hui
    Zhou, Ye
    Wang, Yong
    PROCEEDINGS OF 2023 INTERNATIONAL CONFERENCE ON AI AND METAVERSE IN SUPPLY CHAIN MANAGEMENT, AIMSCM 2023, 2023,
  • [16] DESIGN OF AN ADAPTIVE FUZZY ESTIMATOR FOR FORCE/POSITION TRACKING IN ROBOT MANIPULATORS
    Naghsh, A.
    Sheikholeslam, F.
    Danesh, M.
    IRANIAN JOURNAL OF FUZZY SYSTEMS, 2014, 11 (01): : 75 - 89
  • [17] OPTIMAL HYBRID POSITION FORCE TRACKING CONTROL OF A CONSTRAINED ROBOT
    YOU, LS
    CHEN, BS
    INTERNATIONAL JOURNAL OF CONTROL, 1993, 58 (02) : 253 - 275
  • [18] On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach
    Baigzadehnoe, Barmak
    Rahmani, Zahra
    Khosravi, Alireza
    Rezaie, Behrooz
    ISA TRANSACTIONS, 2017, 70 : 432 - 446
  • [19] Adaptive force and position control of robot manipulator based on hyperstability
    Ham, WC
    SICE '98 - PROCEEDINGS OF THE 37TH SICE ANNUAL CONFERENCE: INTERNATIONAL SESSION PAPERS, 1998, : 843 - 846
  • [20] Adaptive force/position control of robot manipulators with bounded inputs
    Rojas-Garcia, Lina
    Bonilla-Gutierrez, Isela
    Mendoza-Gutierrez, Marco
    Chavez-Olivares, Cesar
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2022, 36 (03) : 1497 - 1509
12345