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Robust and adaptive position/force stabilization of robotic manipulators in contact tasks

Published online by Cambridge University Press:  09 March 2009

Y. Ekalo  and
M. Vukobratović
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Summary

Control laws are described for solving the task of stabilization of motion and force of interaction of a robot with its environment with a prescribed quality of transient processes with respect to position and in the presence of control, motion, and interaction force constraints. The robustness of these laws to parametric perturbations and their stability with respect to initial and external perturbations and measuring sensor errors have been proven.

Keywords

Adaptive stabilizationContact tasksControl lawsRobot's environment.
Type
Research Article
Information
Robotica , Volume 11 , Issue 4 , July 1993 , pp. 373 - 386
Copyright
Copyright © Cambridge University Press 1993

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