Search results for "Robotic manipulator"

showing 2 items of 2 documents

An adaptive control law for robotic manipulator without velocity feedback

2003

In this paper, a new adaptive control law is designed for robotic manipulators, based on the use of reference velocities instead of the actual ones and feedback signals generated from position errors. The law in question is suitable for trajectory tracking and positioning tasks. Its peculiarities are implementation without velocity measurements and estimation, high signal-to-noise ratio in control torques and absence of parameter drift in positioning tasks. Experimental tests are shown with the aim to confirm the validity of the control law and to illustrate its actual effects on the behaviour of the system.

EngineeringAdaptive controlbusiness.industryApplied MathematicsControl (management)Robot manipulatorAdaptive controlControl engineeringTracking (particle physics)Computer Science ApplicationsOutput feedbackSettore ING-INF/04 - AutomaticaControl and Systems EngineeringVelocity feedbackPosition (vector)Control theoryLawTrajectoryTorqueElectrical and Electronic EngineeringbusinessRobotic manipulator
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Interaction Control of Robotic Manipulators Without Force Measurement

2010

This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. Based on Lyapunov techniques will be proved that the control law guaranties tracking of the desired Cartesian trajectory along the contact plane and of a constant desired force along reciprocal direction, without force measuring. Extensive simulations with 2-DOF manipulator illustrates the followed approach.

Lyapunov functionAdaptive controlRobotic manipulators control adaptive control interaction control.Computer scienceRobot manipulatorControl engineeringTracking (particle physics)Computer Science::Roboticssymbols.namesakeSettore ING-INF/04 - AutomaticaControl theoryTrajectorysymbolsManipulatorConstant (mathematics)
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