Adaptive motion-force control of robots with uncertain constraints

RICARDO CARELLI; VICENTE MUT

Robotics and Manufacturing Recent Trends in Research, Education and Applications, Vol. 4

ASME Press

Lugar: New York; Año: 1992; p. 201 - 206

This paper addresses the problem of motion-force control of constrained robots in the presence of uncertainties both in dynamic robot parameters and in the constraint function. The controller design is based on singular model robot representation. In a previous paper an adaptive solution is proposed in relation to dynamic robot uncertainties. In this work it is additionally considered the uncertainties in the constraint function, related to which two design solutions are presented. One solution is the explicit identification of the constraint function and the other one is the direct estimation of the Jacobian matrix of a transform function. Simulation results show a good performance of the proposed adaptive controller under uncertain constraints.