MANIPULATION
Adaptive Force/Position Control of Constrained Manipulators with Flexible Joints
Bernard Brogliato, R. Lozano-Leal
- Year
- 1991
- Citations
- 5
Abstract
This paper presents adaptive control strategies for flexible Joint robot manipulators subject to holonomic constraints which relies on the joint coordinates partitioning method proposed by McClamroch and Wang [1] Convergence and stability results are insured regardless of the joint flexibility value.
Keywords
Flexibility (engineering)Control theory (sociology)HolonomicPosition (finance)Convergence (economics)Holonomic constraintsJoint (building)Computer scienceAdaptive controlRobot
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