Adaptive compliant control of robot manipulators

Control Engineering Practice

Volumn 4, Issue 5, 1996, Pages 705-712

  Siciliano, B ^a   Villani, L ^a  

^a UNIVERSITY OF NAPLES FEDERICO II   (Italy)

Author keywords

Adaptive control; Force control; Lyapunov function; Position control; Robots; Stability

Indexed keywords

CONSTRAINT THEORY; END EFFECTORS; FORCE CONTROL; LYAPUNOV METHODS; MANIPULATORS; MATHEMATICAL MODELS; POSITION CONTROL; ROBOTICS; SYSTEM STABILITY;

CONTROL LAW; END EFFECTOR TRAJECTORY; LINEAR COMPENSATOR ACTION;

ADAPTIVE CONTROL SYSTEMS;

EID: 0030149186     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/0967-0661(96)00054-8     Document Type: Article

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