In this paper, a new method of design of position/force controller for robots with parametric uncertainty is presented. An adaptive control scheme is proposed for constrained robot motion control. The proposed control scheme possesses an important practical feature: under the suggested controller, position, velocity, acceleration and force errors converge to zero without requiring measurements or estimates of acceleration and force derivative. Computer simulation results are also presented for illustration.
No takes yet. Share an insight, caveat, or question.
Zhen et al. (2002) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: