제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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- Pages.183-188
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- 1994
Adaptive control for robot manipulators exeeuting fine motion tasks
- Parra-Vega, Vicente (Faculty of Engineering, University of Tokyo) ;
- Arimoto, Suguru (Faculty of Engineering, University of Tokyo)
- 발행 : 1994.10.01
초록
A passivity-based adaptive controller for robots executing fine motion tasks is proposed. The robot dynamics is modelled such that it is subject to holonomic constraints and hence it can be treated as a particular case of constrained motion tasks. Energy-motivated stability analysis is used to conclude the asymptotic stability. Remarks regarding the structure of the controller are given. A computer simulations study is presented and a robust constraint stabilization algorithm is also proposed.
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