Adaptive position/force control of BDC-RLED robots without velocity measurements

M. S. de Queiroz; D. M. Dawson; H. Canbolat

Adaptive position/force control of BDC-RLED robots without velocity measurements

M. S. de Queiroz
, D. M. Dawson
, H. Canbolat

Research output: Contribution to journal › Conference article › peer-review

7 Scopus citations

Abstract

This paper considers the problem of controlling the position and force of a constrained rigid-link electrically-driven robot manipulator actuated by brushed DC motors (BDC-RLED robot). Based on inexact knowledge of almost all of the system parameters and the lack of link velocity measurements, the integrator backstepping approach is used to design a voltage-level, adaptive position/force controller which ensures semi-global asymptotic tracking for the end-effector position, velocity, and force.

Original language	English
Pages (from-to)	525-530
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
State	Published - 1997
Externally published	Yes
Event	Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: Apr 20 1997 → Apr 25 1997

Cite this

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title = "Adaptive position/force control of BDC-RLED robots without velocity measurements",

abstract = "This paper considers the problem of controlling the position and force of a constrained rigid-link electrically-driven robot manipulator actuated by brushed DC motors (BDC-RLED robot). Based on inexact knowledge of almost all of the system parameters and the lack of link velocity measurements, the integrator backstepping approach is used to design a voltage-level, adaptive position/force controller which ensures semi-global asymptotic tracking for the end-effector position, velocity, and force.",

author = "\{de Queiroz\}, \{M. S.\} and Dawson, \{D. M.\} and H. Canbolat",

year = "1997",

language = "English",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) ; Conference date: 20-04-1997 Through 25-04-1997",

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TY - JOUR

T1 - Adaptive position/force control of BDC-RLED robots without velocity measurements

AU - de Queiroz, M. S.

AU - Dawson, D. M.

AU - Canbolat, H.

PY - 1997

Y1 - 1997

N2 - This paper considers the problem of controlling the position and force of a constrained rigid-link electrically-driven robot manipulator actuated by brushed DC motors (BDC-RLED robot). Based on inexact knowledge of almost all of the system parameters and the lack of link velocity measurements, the integrator backstepping approach is used to design a voltage-level, adaptive position/force controller which ensures semi-global asymptotic tracking for the end-effector position, velocity, and force.

AB - This paper considers the problem of controlling the position and force of a constrained rigid-link electrically-driven robot manipulator actuated by brushed DC motors (BDC-RLED robot). Based on inexact knowledge of almost all of the system parameters and the lack of link velocity measurements, the integrator backstepping approach is used to design a voltage-level, adaptive position/force controller which ensures semi-global asymptotic tracking for the end-effector position, velocity, and force.

UR - https://www.scopus.com/pages/publications/0030707335

M3 - Conference article

AN - SCOPUS:0030707335

SN - 1050-4729

VL - 1

SP - 525

EP - 530

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4)

Y2 - 20 April 1997 through 25 April 1997

ER -

Adaptive position/force control of BDC-RLED robots without velocity measurements

Abstract

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