Adaptive Force/Position Control Law of Nonlinear Robotic System

Chun Di Jiang; Hai Lun Wang; Lu Zhang

doi:10.4028/www.scientific.net/AMM.52-54.1670

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 52-54Adaptive Force/Position Control Law of Nonlinear...

Adaptive Force/Position Control Law of Nonlinear Robotic System

Abstract:

Based on the reference [1], this paper presents an adaptive control law of nonlinear robotic systems. The performance of robot system is testified by a simulation example of 2-dof robots system and doing experiment in SRV-02 equipment which is made in Canada, the results obtained are satisfactory and the tracking error is negligible.

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Periodical:

Applied Mechanics and Materials (Volumes 52-54)

Pages:

1670-1674

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.52-54.1670

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Online since:

March 2011

Authors:

Chun Di Jiang, Hai Lun Wang, Lu Zhang

Keywords:

Adaptive Control, Force Control, Nonlinear Robotic System, Position Control

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References

[1] C.D. Jiang, H.L. Wang. Based on passivit backsteeping control of robotic systems, 2010 2nd international workshop on intelligent systems and applications(2010), pp.1365-1367.

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[2] C.L. Guo. 6-dof parallel robot dynamic modeling nonlinear decoupling and control. Dissertation for the master degree in engineering(2000), pp.39-68.

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[3] H.F. Wang, S.Q. Zhu and S.G. Liu. Adaptive PID control of robot manipulators with tracking performance. Control and Decision, Vol 24-10(2009), p.1587.

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[4] J.Z. Wu. Nonlinear robust adaptive control of 6-dof parallel robot. Dissertation for the master degree in engineering(2001), pp.36-65.

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