LYAPUNOV-BASED CONTROL OF A ROBOT AND MASS-SPRING SYSTEM UNDERGOING AN IMPACT COLLISION

被引：0

作者：

Dupree, K. ^{[1
]}

Liang, C. -H. ^{[1
]}

Hu, G. ^{[1
]}

Dixon, W. E. ^{[1
]}

机构：

[1] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2009年 / 24卷 / 04期

基金：

美国国家科学基金会;

关键词：

Impact; robotics; nonlinear control; FORCE CONTROL; MECHANICAL SYSTEMS; NEEDLE INSERTION; CONTACT; MOTION; MODEL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The control of a dynamic system that transitions from free motion to motion with a deformable surface is challenging problem of practical concern for robotics applications. A control challenge for these systems is that the equations of motion are different when the system status changes suddenly from a non-contact state to a contact state. A nonlinear controller is designed to command a robot to collide with a deformable unactuated mass-spring system and regulate the spring-mass to a desired compressed state. Lyapunov-based methods are used to develop a continuous controller that yields global asymptotic regulation of the spring-mass and robot links. Unlike some other results in literature, the developed continuous force controller does not depend on sensing the impact, measuring the impact force, or the measurement of other acceleration terms. Experimental results are provided to validate our analysis.

引用

页码：302 / 311

页数：10

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