ABSTRACT. The dynamic performance of fixed-gain force or impedance manipulator control systems in constrained situations is very dependent on the ...

Jan 19, 2006 · Simulation results show that the adaptive scheme can significantly improve the performance in force tracking and enhance stability at high ...

Overview ; publication date. 1990 ; has subject area. Industrial Engineering & Automation (Science Metrix) ; published in. Lecture Notes in Control and Information ...

The subject of the article is the adaptive position and force control of a robotic manipulator in interaction with flexible environment.

Aug 17, 2020 · This study attempts to regulate robot–environment interaction by generating bounded control signals and to avoid accurate knowledge of the parameters.

Robust adaptive motion and force control of robot manipulators in unknown stiffness environments. Abstract: Robust motion and force tracking control of robot ...

For a softer environment stiffness of end effector should be stiffer and vice versa. In comparison, position based control can implement stiff behavior better ...

A variable structure adaptive method is developed for robust motion and force tracking control of robot manipulators in the presence of uncertainties in ...

Furthermore, the adaptive force and position controllers have "learning capabilities" to cope with unpredictable changes in the manipulator or environment ...

Robust motion and force tracking control of robot manipulators in the presence of parametric uncertainties in both the robot dynamics.