Adaptive force control of robot manipulators

An adaptive controller that achieves a pure tracking force objective for n-link robot manipulators is presented in this paper. The main features of the proposed algorithm are: (i) the dynamic parameters of the robot are assumed to be unknown, (ii) object stiffness is unknown, (iii) only position, velocity and interaction force measurements are required. Under the practical assumption of a constant inertia matrix, the scheme is shown to be globally convergent to zero-force tracking error. This assumption can be removed for single link devices, thus providing the first proof of the global convergence of an adaptive force controller that includes estimation of both manipulator and environment dynamics

[1]  J. L. Nevins,et al.  The Force Vector Assembler Concept , 1972 .

[2]  C. Desoer,et al.  Feedback Systems: Input-Output Properties , 1975 .

[3]  Daniel E. Whitney,et al.  Force Feedback Control of Manipulator Fine Motions , 1977 .

[4]  J. Salisbury,et al.  Active stiffness control of a manipulator in cartesian coordinates , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[5]  S. Sastry.  Model-Reference Adaptive Control—Stability, Parameter Convergence, and Robustness , 1984 .

[6]  R. Kosut,et al.  Robust adaptive control: Conditions for global stability , 1985 .

[7]  Brian D. O. Anderson,et al.  Stability of adaptive systems: passivity and averaging analysis , 1986 .

[8]  John M. Hollerbach,et al.  Dynamic Stability Issues in Force Control of Manipulators , 1987, 1987 American Control Conference.

[9]  M. Blauer,et al.  State and parameter estimation for robotic manipulators using force measurements , 1987 .

[10]  Toshio Fukuda,et al.  Adaptive force control of manipulators with consideration of object dynamics , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[11]  Warren P. Seering,et al.  Understanding bandwidth limitations in robot force control , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[12]  Weiping Li,et al.  Adaptive manipulator control a case study , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[13]  P. Ioannou,et al.  Strictly positive real matrices and the Lefschetz-Kalman-Yakubovich lemma , 1988 .

[14]  Takayuki Yamada,et al.  Force control of servomechanism using adaptive control , 1988, IEEE J. Robotics Autom..

[15]  Jean-Jacques E. Slotine,et al.  Robot analysis and control , 1988, Autom..

[16]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .