NASA NTRS · 19870064192
Adaptive force and position control of manipulators
Abstract
Systematic methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecture are presented. The force controller tracks the desired force setpoints while the position controller tracks the desired position trajectories. The present control schemes are computationally efficient and suitable for implementation in online control with high sampling rates.
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Seraji, H.. 1987-08-01. Adaptive force and position control of manipulators. https://ntrs.nasa.gov/citations/19870064192
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