Unified approach to adaptive control of robotic manipulators

Abstract

A unified approach for design and stability analysis of adaptive controllers for robotic manipulators is presented. A general control law structure is proposed which reduces, by a suitable choice of some design matrices, to motion, impedance, force and dynamic hybrid control. Motion control considers the robot arm moving in a free space, and asymptotic motion-trajectory-following is desired. Impedance control is concerned with the control of a robot which can be in contact with the environment, where a dynamic relationship between the position error and interacting forces is desired. Force control assumes that the end-effector is attached to the environment, and force-trajectory-following is desired. Dynamic hybrid control attempts to control motion or impedance in certain directions and force in the others.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>