Feedback stabilization and tracking of constrained robots
N.H. McClamroch,Danwei Wang +1 more
TLDR
In this paper, the effects of constraint force required to maintain satisfaction of the constraints are considered, and conditions for stabilization and tracking using feedback are developed using mathematical models for constrained robot dynamics.Abstract:
Mathematical models for constrained robot dynamics, incorporating the effects of constraint force required to maintain satisfaction of the constraints, are used to develop explicit conditions for stabilization and tracking using feedback. The control structure allows feedback of generalized robot displacements, velocities, and the constraint forces. Global conditions for tracking, based on a modified computed-torque controller and local conditions for feedback stabilization, using a linear controller, are presented. The framework is also used to investigate the closed-loop properties if there are force disturbances, dynamics in the force feedback loops, or uncertainty in the constraint functions. >read more
Citations
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Control and stabilization of nonholonomic dynamic systems
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A survey of applications of second-order sliding mode control to mechanical systems
TL;DR: In this paper, a class of second-order sliding mode controllers, guaranteeing finite-time convergence for systems with relative degree two between the sliding variable and the switching control, is presented.
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The parallel approach to force/position control of robotic manipulators
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Modeling, stability and control of biped robots-a general framework
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A survey of robot interaction control schemes with experimental comparison
TL;DR: In this paper, a survey of robot interaction control schemes for a manipulator, the end effector of which comes in contact with a compliant surface is presented, and a thorough analysis is developed by means of a number of case studies.
References
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M. H. Raibert,J. J. Craig +1 more
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Journal ArticleDOI
A new feedback method for dynamic control of manipulators
Morikazu Takegaki,Suguru Arimoto +1 more
TL;DR: A new approach to the dynamic control of manipulators is developed from the viewpoint of mechanics and it is shown that a linear feedback of generalized coordinates and their derivatives are effective for motion control in the large.