Journal ArticleDOI
Global stabilization for constrained robot motions with constraint uncertainties
TLDR
In the presence of the constraint uncertainties under investigation, the desired position and constraint force can be guaranteed with global asymptotic convergence.Abstract:
In this paper, the global stability problem for constrained robot motions in the presence of constraint uncertainties is investigated. We focus on the uncertainties in the constraint functions and their effects on the global stability. PD type controllers are used and conditions for global stability are developed using Lyapunov's direct approach. In the presence of the constraint uncertainties under investigation, the desired position and constraint force can be guaranteed with global asymptotic convergence. The developed conditions for feedback gain selections clearly show the effects of the constraint uncertainties. For the case when the velocity measurements are not available, conditions for global stability regulation are also established and the robot controller uses only the measurements of the position angles. Finally, we consider the case where the robot joints are flexible and global stability conditions are given.read more
Citations
More filters
Journal ArticleDOI
Consensus of Multi-Agent Systems With Diverse Input and Communication Delays
Yu-Ping Tian,Cheng-Lin Liu +1 more
TL;DR: The consensus problem for multi-agent systems with input and communication delays is studied based on the frequency-domain analysis and two decentralized consensus conditions are obtained.
Journal ArticleDOI
Adaptive position/force control for robot manipulators in contact with a rigid surface with uncertain parameters
TL;DR: An adaptive scheme is proposed for robot manipulators that perform interaction tasks with a rigid surface that takes into account uncertainties in robot and surface parameters and locally estimates the surface by means of force measurements.
Journal ArticleDOI
Force position control for a robot finger with a soft tip and kinematic uncertainties
TL;DR: An adaptive controller is proposed, and the asymptotic convergence of the applied force error and the estimated position error of the tip to zero is shown for the spatial case.
Journal ArticleDOI
A position/force control for a robot finger with soft tip and uncertain kinematics
Zoe Doulgeri,Suguru Arimoto +1 more
TL;DR: This work considers the position and force regulation problem for a soft tip robot finger in contact with a rigid surface under kinematic and dynamic parametric uncertainties and proposes an adaptive controller with a composite update parameter law.
Proceedings ArticleDOI
An adaptive law for slope identification and force position regulation using motion variables
TL;DR: An adaptive control law for the force position regulation problem under surface kinematic uncertainties is proposed and the asymptotic stability of the closed loop system equilibrium point is proved in a local sense.
References
More filters
Journal ArticleDOI
Hybrid position/force control of manipulators
M. H. Raibert,J. J. Craig +1 more
TL;DR: A new conceptually simple approach to controlling compliant motions of a robot manipulator that combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system is presented.
Journal ArticleDOI
A unified approach for motion and force control of robot manipulators: The operational space formulation
TL;DR: A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed, and the unified approach for motion and force control is developed.
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.
Journal ArticleDOI
Feedback stabilization and tracking of constrained robots
N.H. McClamroch,Danwei Wang +1 more
TL;DR: 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.
Related Papers (5)
Brief Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties
Adaptive force-motion control of coordinated robots interacting with geometrically unknown environments
Mehrzad Namvar,Farhad Aghili +1 more
Dynamic hybrid position/force control of robot manipulators-on-line estimation of unknown constraint
Tsuneo Yoshikawa,A. Sudou +1 more