Model-based adaptive hybrid control for manipulators under multiple geometric constraints

IEEE Transactions on Control Systems Technology

Volumn 7, Issue 1, 1999, Pages 97-109

  Liu, Yun Hui ^a,b   Kitagaki, Kosei ^a,c   Ogasawara, Tsukasa ^a,c   Arimoto, Suguru ^a,d  

^a IEEE   (Hong Kong)

^b CHINESE UNIVERSITY OF HONG KONG   (Hong Kong)

^c ELECTROTECHNICAL LABORATORY   (Japan)

^d RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

Adaptive control; Force control; Manipulators; Multiple constraints; Parallel processing; Transputers

Indexed keywords

ADAPTIVE ALGORITHMS; ASYMPTOTIC STABILITY; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); FORCE CONTROL; LYAPUNOV METHODS; MANIPULATORS; MATHEMATICAL MODELS; PARALLEL PROCESSING SYSTEMS; TRANSPUTERS;

ADAPTIVE HYBRID CONTROLLER; MULTIPLE GEOMETRIC CONSTRAINTS;

ADAPTIVE CONTROL SYSTEMS;

EID: 0032715013     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/87.736761     Document Type: Article

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