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Brussel, H. Van
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Mechanical Engineering

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ROBUST IMPEDANCE ADAPTIVE CONTROL FOR CONSTRAINED MOTIONS Indrawanto, Indrawanto; Swevers, J; Brussel, H. Van
Mesin Vol 17, No 2 (2002)
Publisher : Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (714.373 KB)

Abstract

This paper presents a robust adaptive impedance control for robot manipulators. The robust adaptive impedance control is designed to obtain fast and accurate force tracking. The proposed controller does not require special knowledge of robot dynamics and environment models. Lyapunov-based Model Reference Adaptive Control is used to establish a global stability of the tracking errors. Experimental results on an industrial robot are presented to verify the force tracking performance of the proposed controller.
KENDALI ADAPTIF TANGGUH TERDESENSTRALISIR UNTUK MANIPULATOR ROBOT Indrawanto, Indrawanto; Swevers, J; Brussel, H. Van
Mesin Vol 14, No 3 (1999)
Publisher : Mesin

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Abstract

This paper presents a robust decentralized adaptive controller for robot manipulators. The proposed controller does not require special knowledge of the robot dynamics model. Each joint of the manipulator is controlled by using an adaptive PD feedback controller and an adaptive gain acceleration feedforward. An auxiliary input is introduced to improve the convergence rate and to improve the robustness to torque disturbances and to a class of unmodelled dynamics. Lyapunov-based Model Reference Adaptive Control is used to establish the global stability of the tracking errors. Experimental results on an industrial robot are presented to verify the tracking performance of the proposed controller.
Co-Authors Indrawanto Indrawanto Swevers, J