INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
artículos
Título:
An Adaptive Impedance/Force Controller for Robot Manipulators
Autor/es:
RICARDO CARELLI; RAFAEL KELLY
Revista:
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Editorial:
IEEE Press
Referencias:
Año: 1991 vol. 36 p. 967 - 971
ISSN:
0018-9286
Resumen:
An adaptive impedance/force controller for constrained robots with uncertain dynamic model parameters is presented. The controller has been designed based on singular model robot representation. Some properties of a reduced form robot model are exploited to show that global tracking is achieved in the sense that asymptotic approach to an impedance manifold and bounded force error are obtained.on singular model robot representation. Some properties of a reduced form robot model are exploited to show that global tracking is achieved in the sense that asymptotic approach to an impedance manifold and bounded force error are obtained.
