Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1992.07a
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- Pages.408-410
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- 1992
A Position/Force Control of Robotic Manipulators with Parameter Adaptation
파라미터 적응을 이용하는 로보트 매니퓰레이터의 위치/힘 제어
- Yu, Dong-Young (Dept. of Electrical Eng. Han-Yang Univ.) ;
- Kim, Eung-Seok (Dept. of Electrical Eng. Han-Yang Univ.) ;
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Yang, Hai-Won
(Dept. of Electrical Eng. Han-Yang Univ.)
- Published : 1992.07.23
Abstract
An adaptive hybrid position/force controller for constrained manipulator with uncertain dynamic model parameters and environment stiffness is presented. In this paper, the compliance frame model is constructed by independent positions and forces to be controlled. The adaptive controller based on this compliance frame dynamic model is designed. Lyapunov theory is used for controller design and Stability analysis.
Keywords