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Article
An adaptive force/position regulator for robot manipulators
Article first published online: 21 MAR 2007
DOI: 10.1002/acs.4480070508
Copyright © 1993 John Wiley & Sons, Ltd.
Issue
1099-1115/asset/cover.gif?v=1&s=015a2949e63097a11ac3d83a29a96f0638085be5 "International Journal of Adaptive Control and Signal Processing")
International Journal of Adaptive Control and Signal Processing
Volume 7, Issue 5, pages 389–403, September 1993
Additional Information
How to Cite
Siciliano, B. and Villani, L. (1993), An adaptive force/position regulator for robot manipulators. Int. J. Adapt. Control Signal Process., 7: 389–403. doi: 10.1002/acs.4480070508
Publication History
- Issue published online: 21 MAR 2007
- Article first published online: 21 MAR 2007
Funded by
- Consiglio Nazionale delle Ricerche. Grant Number: 92.01064.PF67
- Abstract
- References
- Cited By
Keywords:
- Robots Force/position regulation;
- PID control;
- Stability;
- Lyapunov methods;
- Adaptive control
Abstract
An adaptive force/position regulator for robot manipulators in contact with an elastically compliant surface is proposed in this paper. The controller consists of a PD action on the position loop, a PI action on the force loop, together with estimated gravity compensation and desired contact force feedforward. The closed-loop system is shown to have a unique equilibrium state and asymptotic stability in the neighbourhood of this state is proven via the classical Lyapunov method. To cope with imperfect gravity compensation, the controller is made adaptive with respect to a suitable set of parameters in the gravity term. Numerical case studies are developed for a three-joint elbow manipulator.