An Adaptive Control of Constrained Robots
Hong Wang · Gongcheng shuxue xuebao · 2005
Based on the embedding theory in differential geometry, we get a new dynamic equation of constrained robot and an adaptive control algorithm. Without getting the regressor, the proposed control algorithm has higher adaptivity. When the condition PE is satisfied, the proposed controller can realize simultaneously both the desired position trajectory of the joint and the desired value of the force.