Adaptive Impedance Control Subject to Torque Constraints in a Hydraulic Robot.
نویسندگان
چکیده
منابع مشابه
An Adaptive Impedance Controller for Robot Manipulators
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1993
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.59.1122