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.
|出版ステータス||Published - 1991 12月 1|
|イベント||Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn|
継続期間: 1991 10月 28 → 1991 11月 1
|Other||Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91|
|Period||91/10/28 → 91/11/1|
ASJC Scopus subject areas