Adaptive force/motion control of constrained robot manipulators

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Authors: Yu, H., Seneviratne, L.D. and Earales, S.W.E.

Journal: Proceedings of the IEEE Conference on Control Applications

Volume: 2

Pages: 505-510

Following the line of the dynamic hybrid control method given by McClamorch and Wang, two reduced, unconstrained robot models, in which the constraints are satisfied automatically, are introduced. An exponentially stable control law for both position tracking errors and force tracking errors is presented based on Lyapunov stability theory. When there exist robot dynamics parameters uncertainties, an adaptive control is proposed based on the previous control structure. The control law ensures the asymptotical convergence of the position tracking errors and boundedness of the force tracking errors.

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