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Trajectory/Force Control for Robotic Manipulators using Sliding-Mode and Adaptive Control.

Lanzon A. and Richards R. J.

Proceedings of the American Control Conference, June 1999

Abstract

This paper presents a new robust trajectory/force controller for non-redundant rigid manipulators designed using sliding-mode and adaptive control techniques. Sliding-mode control is used to take care of the uncertain robot dynamics, whereas adaptive control is used to estimate the unknown environment stiffness. Experimental results show that trajectory tracking and force regulation are achieved with bounded errors. This paper assumes known location and geometry of the environment.

BibTex Entry

@InProceedings{,: author = {Lanzon A. and Richards R. J.},; title = {Trajectory/Force Control for Robotic Manipulators using Sliding-Mode and Adaptive Control. },; address = {San Diego, USA},; booktitle = {Proceedings of the American Control Conference},; month = {June},; year = {1999}
}



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