Adaptive position/force control of BDC-RLED robots without velocity measurements

de Queiroz M., Dawson D., CANBOLAT H.

Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4), Albuquerque, NM, USA, 20 - 25 April 1997, vol.1, pp.525-530 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 1
  • City: Albuquerque, NM, USA
  • Page Numbers: pp.525-530


This paper considers the problem of controlling the position and force of a constrained rigid-link electrically-driven robot manipulator actuated by brushed DC motors (BDC-RLED robot). Based on inexact knowledge of almost all of the system parameters and the lack of link velocity measurements, the integrator backstepping approach is used to design a voltage-level, adaptive position/force controller which ensures semi-global asymptotic tracking for the end-effector position, velocity, and force.