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...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 39; no. 5; pp. 847 - 855
Main Authors Cheah, C.C., Kawamura, S., Arimoto, S.
Format Journal Article
LanguageEnglish
Published Oxford Elsevier Ltd 01.05.2003
Elsevier
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
Hybrid position and force control
Stability
Kinematic constraint uncertainty
State feedback
Motion
Uncertainty
Constraint
Hybrid control
Position control
Knowledge
Modeling
Robotics
Manipulator
Constrained optimization
Control constraint
Asymptotic stability
Uncertain system
Gripper
Dynamics
Kinematics
Feedforward
Force control
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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