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In this paper, we propose an adaptive control law that achieves prescribed performance indices regarding the transient and steady state response of the robot force/position tracking errors and ensures no loss of contact of the robot end effector. A compliant contact with a planar surface is assumed and the control objective is satisfied under parametric uncertainties in the robot dynamics and the...
A control law is proposed that achieves predefined performance indices regarding the speed of response, the steady state and the allowed overshoot of the robot force/position tracking errors, ensuring no loss of contact of the robot end effector. The controller incorporates a transformed error, which includes the performance indices. The control objective is satisfied under parametric uncertainties...
In this work, the problem of force/position tracking for a robotic finger in compliant contact with a surface under non-parametric uncertainties is considered. In particular, structural uncertainties are assumed to characterize the compliance model as well as the robot dynamic model. A novel neuro-adaptive controller is proposed that exploits the approximation capabilities of the linear in the weights...
In this work, the problem of force/position tracking for a robotic finger in compliant contact with a surface under non-parametric uncertainties is considered. In particular, structural uncertainties are assumed to characterize the compliance model as well as the robot dynamic model. A novel neuro-adaptive controller is proposed that exploits the approximation capabilities of the linear in the weights...
In this work, we consider the force and position trajectory tracking for a robot manipulator in compliant contact with a surface in the presence of unknown stiffness and dynamic friction. A novel neuro-adaptive controller is proposed that exploits the approximation capabilities of the linear in the weights neural networks and the uniform ultimate boundedness of force and position error is proved....
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