The paper describes an advanced control technique that uses a self-adjusting controller. The technique allows changing control parameters of the manipulator according to different technological forces and disturbances acting to the end-effector of the manipulator while performing surface treatment construction operations such as cleaning and polishing. The system is asymptotically stable for the phase error and can be implemented on a base of existed industrial robots.
, Rachkov, M.
and Pushkin, M.
Adaptive Control of a Construction Manipulator, Special Publication (NIST SP), National Institute of Standards and Technology, Gaithersburg, MD, [online], https://doi.org/10.6028/NIST.SP.989
(Accessed December 11, 2023)