Premium
Adaptive Control For Robotic Manipulators Executing Multilateral Constrained Task
Author(s) -
Kawasaki Haruhisa,
Taniuchi Ryo
Publication year - 2003
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2003.tb00092.x
Subject(s) - control theory (sociology) , lyapunov function , lemma (botany) , controller (irrigation) , orthogonality , convergence (economics) , adaptive control , linear subspace , computer science , task (project management) , robot manipulator , subspace topology , motion control , trajectory , control engineering , reachability , robot , control (management) , mathematics , engineering , artificial intelligence , algorithm , nonlinear system , systems engineering , economic growth , ecology , biology , geometry , quantum mechanics , agronomy , physics , poaceae , economics , astronomy
This paper presents a model‐based adaptive control in task coordinates for robotic manipulators executing multilateral constrained tasks The controller works based on the concept of orthogonality between force and motion in the subspaces derived from the constraints. The control gains are independently adjustable in each subspace. The friction force, depending on the contact force, is compensated adaptively. Asymptotic convergence for both force and motion tracking errors is guaranteed by the Lyapunov‐Like Lemma. Experimental results obtained using a 3 D.O.F. robot are given.