Adaptive Position/Force Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

The present paper concerns the synthesis of robot movement control systems in the cases of disturbances of natural position constraints, which are the result of surface susceptibility and inaccuracies in its description. The study contains the synthesis of control laws, in which the knowledge of par...

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Bibliographic Details

Published in:	Robotics
Main Author:	Piotr Gierlak
Format:	Article
Language:	English
Published:	MDPI AG 2021-02-01
Subjects:	robotic manipulator adaptive control Lyapunov stability position/force control flexible environment uncertain environment
Online Access:	https://www.mdpi.com/2218-6581/10/1/32