A passivity-based adaptive sliding mode position-force control for robot manipulators

International Journal of Adaptive Control and Signal Processing

Volumn 10, Issue 4-5, 1996, Pages 365-377

  Parra Vega, Vicente ^a   Arimoto, Suguru ^a  

^a UNIVERSITY OF TOKYO   (Japan)

Author keywords

Holonomic systems; Passivity based adaptive control; Position force tracking; Sliding mode control

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; COMPUTER SIMULATION; CONVERGENCE OF NUMERICAL METHODS; ERRORS; MANIPULATORS; MATHEMATICAL MODELS; PARAMETER ESTIMATION; POSITION CONTROL; ROBOTS; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY;

HOLONOMIC SYSTEMS; POSITION FORCE TRACKING; ROBOT MANIPULATORS; SLIDING MODE CONTROL;

FORCE CONTROL;

EID: 0030193286     PISSN: 08906327     EISSN: None     Source Type: Journal    
DOI: 10.1002/(sici)1099-1115(199607)10:4/5<365::aid-acs368>3.0.co;2-3     Document Type: Article

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