An exponentially stable adaptive control for force and position tracking of robot manipulators

IEEE Transactions on Automatic Control

Volumn 44, Issue 4, 1999, Pages 798-802

  Villani, Luigi ^a   Canudas De Wit, Carlos ^b   Brogliato, Bernard ^b  

^a UNIVERSITY OF NAPLES FEDERICO II   (Italy)

^b GIPSA LAB   (France)

Author keywords

Adaptive control; Force control; Manipulators; Position control

Indexed keywords

ADAPTIVE ALGORITHMS; ERROR ANALYSIS; FORCE CONTROL; MANIPULATORS; MOTION PLANNING; POSITION CONTROL; SYSTEM STABILITY; THREE TERM CONTROL SYSTEMS; TRACKING (POSITION);

PASSIVITY BASED CONTROL;

ADAPTIVE CONTROL SYSTEMS;

EID: 0032648323     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.754821     Document Type: Article

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