An Adaptive Impedance Controller for Robot Manipulators
عنوان مقاله: An Adaptive Impedance Controller for Robot Manipulators
شناسه ملی مقاله: JR_IJE-3-3_001
منتشر شده در در سال 1369
شناسه ملی مقاله: JR_IJE-3-3_001
منتشر شده در در سال 1369
مشخصات نویسندگان مقاله:
J. F. Postigo - , Universidad Nacional de San Juan
خلاصه مقاله:
J. F. Postigo - , Universidad Nacional de San Juan
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic model of rigid robot manipulators.
صفحه اختصاصی مقاله و دریافت فایل کامل: https://civilica.com/doc/1392350/