An adaptive impedance control scheme for constrained robots

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aut.researcherHuang, Loulin
dc.contributor.authorHuang, L
dc.date.accessioned2011-08-24T05:00:47Z
dc.date.available2011-08-24T05:00:47Z
dc.date.copyright2004
dc.date.issued2004
dc.description.abstractThis paper addresses the issue of position/force tracking for a constrained robot within the framework of impedance control. An adaptive controller is developed in which a varying desired impedance is adaptively tuned with the robot’s position tracking error. It guarantees the asymptotic convergence of the robot position tracking error and the boundedness of the constraint force tracking error. Simulation results are provided to verify the effectiveness of the scheme.
dc.identifier.citationInternational Journal of Computers, Systems and Signals, vol.5(2), pp.17-26
dc.identifier.issn1608-5655 (online)
dc.identifier.urihttps://hdl.handle.net/10292/1884
dc.publisherIAAMSAD
dc.rightsDBLP: Copyright © 1993-2011 by Michael Ley (University of Trier, Informatik, ley@uni-trier.de) and Schloss Dagstuhl - Leibniz-Zentrum für Informatik GmbH The data provided by DBLP on its webpages as well as the XML files available at our website are released under the Open Data Commons Attribution License (ODC-BY 1.0). You are free to copy, distribute, use, modify, transform, build upon, and produce derived works from our data as long as you attribute any public use of the data, or works produced from the data, in the manner specified in the license.
dc.rights.accessrightsOpenAccess
dc.subjectAdaptive control
dc.subjectImpedance control
dc.subjectConstrained robot
dc.titleAn adaptive impedance control scheme for constrained robots
dc.typeJournal Article
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