I&I Adaptive force-motion Control for Arm Manipulation

Zichen Zhang, Zifei Jiang, Alan Lynch

Keywords: adaptive control; intelligent robotics; robots manipulators; application of nonlinear analysis and design; flying robots; mobile robots; robotics technology

Abstract: We propose an adaptive force-motion controller for 2-DoF robot arm which is contrained to move in a line in R^2 of unknown orientation. Our proposed design is based on adaptive immersion and invariance (I\&I) control theory. In particular, we adapt to the unknown geometry of the motion constraint. The design is verified through numerical simulation and compared with a traditional hybrid force-motion controller.

Submission Number: 66