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• W2159778810 abstract "This paper proposes an adaptive hybrid controller for manipulators constrained on multiple smooth geometric surfaces and reports the experimental results on a six-degree-of-freedom direct-drive manipulator. This controller produces simultaneous position and force tracking of the constrained manipulators even when their physical parameters are unknown since it is incorporated with the model-based adaptive algorithm. The asymptotic stability is guaranteed by a passivity-based Lyapunov function. Further, we present a parallel implementation of this controller using transputers on the six-DOF manipulator. We examine the control performance by experiments of the manipulator in a point-point contact, two point-point contacts, and a face-face contact with the environment, respectively." @default.
• W2159778810 created "2016-06-24" @default.
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• W2159778810 date "1999-01-01" @default.
• W2159778810 modified "2023-09-23" @default.
• W2159778810 title "Model-based adaptive hybrid control for manipulators under multiple geometric constraints" @default.
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• W2159778810 doi "https://doi.org/10.1109/87.736761" @default.
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