Adaptive Motion-Force Control of Robots with Uncertain Constraints

RICARDO CARELLI; VICENTE MUT

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING

Pergamon

Año: 1993 vol. 10 p. 393 - 399

0736-5845

This paper adresses the problem of motion-force control of constrained robots in the presence of uncertainties in both dynamic robot parameters and constraint function. The controller design is based on singular model robot representation. The main contribution of this paper is the consideration of the uncertainties in the constraint function, related to which two design solutions are presented. One solution is the explicit identification of the constraint funciton and the other is the direct estimation of the Jacobian matrix of a transform function. Simulation results show a good performance for the proposed adaptive controller under uncertain constraints.