On the position/force control of robot manipulators with model uncertainty and random disturbances

被引：0

作者：

Wang, Heng ^{[1
]}

Low, K. H. ^{[1
]}

Wang, Michael Yu ^{[2
]}

机构：

[1] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore 639798, Singapore

[2] Chinese Univ Hong Kong, Dept Automat & Comp Aided Engi, Hong Kong, Peoples R China

来源：

2006 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2 | 2006年

关键词：

impedance control; joint impedance/direct control;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper first investigates the force tracking performance by impedance control subjecting to model uncertainties and random external disturbances. A simple joint impedance/direct control structure is then proposed. The resulted controller has higher robustness to the environment and model uncertainties, and external disturbances. Furthermore, it does not require to switch the control modes for all task executions. Therefore, the proposed control structure combines the advantages of both the hybrid position/force control and the impedance control. Computer simulations are performed to verify the analysis of the impedance control and the effectiveness of the proposed control structure.

引用

页码：623 / +

页数：2

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