Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties

Most research so far on hybrid position and force control laws of robotic manipulator has assumed that knowledge of kinematics is known exactly. In the presence of modeling errors, it is unknown whether the stability of the constrained robot system can still be ensured. In this paper, stability and...

Full description

Saved in:
Bibliographic Details
Published in:Automatica (Oxford) 2003-05, Vol.39 (5), p.847-855
Main Authors: Cheah, C.C., Kawamura, S., Arimoto, S.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Exact sciences and technology
Hybrid position and force control
Kinematic constraint uncertainty
Robotics
Stability
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Most research so far on hybrid position and force control laws of robotic manipulator has assumed that knowledge of kinematics is known exactly. In the presence of modeling errors, it is unknown whether the stability of the constrained robot system can still be ensured. In this paper, stability and setpoint control problems of constrained robot with kinematics and dynamics uncertainties are formulated and solved. We shall show that the manipulator end-effector's motion is asymptotically stable even in the presence of such uncertainties.
ISSN:0005-1098
1873-2836
DOI:10.1016/S0005-1098(03)00002-5