Real-time adaptive control for haptic manipulation with Active Observers
作者： Rui Cortesao , Jaeheung Park , O. Khatib
DOI: 10.1109/IROS.2003.1249317
关键词:
摘要: The paper discusses compliant motion control using Active Observers (AOBs) applied in robotic manipulators. Stochastic estimation strategies for haptic manipulation are introduced. Stability and robustness analysis is made as a function of stiffness mismatches. Real time adaptation discussed.
sci-hub.se 参考文章(5)
Suguru Arimoto, Control Theory of Nonlinear Mechanical Systems Oxford University Press, Inc.. ,(1996)
Mark W Spong, Mathukumalli Vidyasagar, Robot dynamics and control ,(1989)
J. Doyle, G. Stein, Robustness with observers conference on decision and control. ,vol. 17, pp. 1- 6 ,(1978) , 10.1109/CDC.1978.267883
Björn Wittenmark, Karl J. Åström, Computer-Controlled Systems: Theory and Design ,(1984)
H. G. Sage, M. F. De Mathelin, E. Ostertag, Robust control of robot manipulators: A survey International Journal of Control. ,vol. 72, pp. 1498- 1522 ,(1999) , 10.1080/002071799220137