This paper addresses the problem of controlling a manipulator in compliant motion while in contact with an environment having an unknown stiffness. Two classes of solutions are discussed: adaptive admittance control and adaptive compliance control. In both admittance and compliance control schemes, compensator adaptation is used to ensure a stable and uniform system performance.


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    Title :

    Adaptive Force Control in Compliant Motion


    Contributors:
    Seraji, H. (author)

    Publication date :

    1994-01-01


    Type of media :

    Preprint


    Type of material :

    No indication


    Language :

    English


    Keywords :