Abstract
The authors present an adaptive force controller to obtain the stable force response independently of the configuration of the redundant manipulator and the stiffness of the object. First, the joint acceleration controller is realized in the joint space. In the manipulator based on the joint acceleration controller, the motion controller in the workspace is constructed by only the consideration of the kinematics. This feature makes the effect of the configuration clear. In the proposed method, this motion controller is expanded into the adaptive force controller. Then the least-squares estimator of the unknown parameters of the object is also introduced to realize the stable force controller.
| Original language | English |
|---|---|
| Pages | 1043-1048 |
| Number of pages | 6 |
| Publication status | Published - 1991 Dec 1 |
| Event | Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn Duration: 1991 Oct 28 → 1991 Nov 1 |
Other
| Other | Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 |
|---|---|
| City | Kobe, Jpn |
| Period | 91/10/28 → 91/11/1 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering