Compliant control of constrained robot manipulators: a mathematical formulation and control expressions

The authors formulate the compliant control problem mathematically, using the framework of constrained Hamiltonian systems. They then derive nonlinear control expressions for the force and the motion on the constraint surface. The derivations reveal conditions that define the class of constraint sur...

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Bibliographic Details
Published inProceedings of the 27th IEEE Conference on Decision and Control pp. 155 - 160 vol.1
Main Authors Chong Sup Yoon, Salam, F.M.A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1988
Subjects
Control systems
End effectors
Force control
Manipulator dynamics
Nonlinear dynamical systems
Nonlinear equations
Process control
Robot control
Torque control
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DOI10.1109/CDC.1988.194288

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Summary:The authors formulate the compliant control problem mathematically, using the framework of constrained Hamiltonian systems. They then derive nonlinear control expressions for the force and the motion on the constraint surface. The derivations reveal conditions that define the class of constraint surfaces allowable in the formulations. Two examples are given to illustrate the formulation and the methodology.< >
DOI:10.1109/CDC.1988.194288