Adaptive Force Control of Robot Manipulators

RICARDO CARELLI; RAFAEL KELLY; ROMEO ORTEGA

INTERNATIONAL JOURNAL OF CONTROL

Taylor & Francis

Lugar: London; Año: 1990 vol. 52 p. 37 - 54

0020-7179

An adaptive controller that achieves a pure tracking Force objectlve for n-link robot manipulators is prcsented in this paper. The main features of thc proposed algorithm are: (i) the dynamic parameters of the robot are assumcd to be unknown, (ii) object stiffness is unknown, (iii) only position, velocity and interaction force measurements arc required. Under the practical assumption of a constant incrtin matrix, the scheme is shown to be globally convergcnt to zero-force tracking error. This assumptlon can be removed for single link deviccs, thus providing the first proof of the global conkergence of an adaptive rorce controllcr that includes estimation of both manipulator and cnvironment dynamics.tracking Force objectlve for n-link robot manipulators is prcsented in this paper. The main features of thc proposed algorithm are: (i) the dynamic parameters of the robot are assumcd to be unknown, (ii) object stiffness is unknown, (iii) only position, velocity and interaction force measurements arc required. Under the practical assumption of a constant incrtin matrix, the scheme is shown to be globally convergcnt to zero-force tracking error. This assumptlon can be removed for single link deviccs, thus providing the first proof of the global conkergence of an adaptive rorce controllcr that includes estimation of both manipulator and cnvironment dynamics.