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

被引：78
作者：
Cheah, CC
Kawamura, S
Arimoto, S
机构：
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
[2] Ritsumeikan Univ, Dept Robot, Shiga 525, Japan
来源：
AUTOMATICA | 2003年 / 39卷 / 05期
关键词：
hybrid position and force control; stability; kinematic constraint uncertainty;
D O I：
10.1016/S0005-1098(03)00002-5
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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. (C) 2003 Elsevier Science Ltd. All rights reserved.
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收藏
页码：847 / 855
页数：9
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