IEEE - Institute of Electrical and Electronics Engineers, Inc. - Adaptive admittance control of a robot manipulator under task space constraint

2010 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Keng Peng Tee ; Rui Yan ; Haizhou Li
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2010
Conference Location: Anchorage, AK, USA, USA
Conference Date: 3 May 2010
Page(s): 5,181 - 5,186
ISBN (CD): 978-1-4244-5040-4
ISBN (Paper): 978-1-4244-5038-1
ISSN (CD): 1050-4729
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2010.5509874
Regular:

We present adaptive admittance control of a robotic manipulator, with uncertain dynamic parameters, operating in a constrained task space. To provide compliance to external forces, we generate a... View More

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