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.
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页码：920 / 925
页数：6
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