IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Neuro-adaptive force/position control with prescribed performance and guaranteed contact maintenance
IEEE Transactions on Neural Networks
Brief Adaptive tracking control using synthesized velocity from attitude measurements
Automatica (Journal of IFAC)
Brief Robot control and parameter estimation with only joint position measurements
Automatica (Journal of IFAC)
Decentralized control of cooperative robots without velocity-force measurements
Automatica (Journal of IFAC)
Saturated control of an uncertain nonlinear system with input delay
Automatica (Journal of IFAC)
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In this paper, we design an adaptive position/force controller for robot manipulators during constrained motion. The proposed controller can compensate for parametric uncertainty while only requiring measurements of link position and end-effector force. A filtering technique is utilized to produce a pseudo-velocity error signal and thus, eliminate the need for link velocity measurements. The control strategy provides semiglobal asymptotic tracking performance for the end-effector position and the interaction force between the constraint and the end-effector. An experimental implementation of the proposed controller on a two-link planar robot is also presented