Efficient adaptive hybrid control strategies for robots in constrained manipulation.
Journal
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, 9-11 April 1991
Pages
1681-1686
Date Issued
1991
Author(s)
Jean, Jong-Hann
Abstract
The authors address the problem of adaptive hybrid controller design for constrained robots, with consideration of computational efficiency. Two efficient control schemes based on Lagrange-Euler and Newton-Euler dynamics formulations are presented. Detailed analyses of tracking properties of joint positions, velocities, and constrained forces are derived for both the Lagrange-Euler approach and the Newton-Euler approach. Although control laws in these two approaches are developed independently, a close connection between them is indicated, which suggests a possible bridge over different general adaptive approaches based on the two dynamics formulations.>
Type
conference paper
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