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Position tracking and force control of robotic manipulators with a descriptor system model. II. The exact control and a control strategy based on LQ method

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2 Author(s)
Hu, Y.Z. ; Dept. of Electr. & Comput. Eng., Toronto Univ., Ont., Canada ; Davison, E.J.

In this paper, the problem of position tracking and contact force control for a constrained manipulator, the end effector of which is required to move along a preassigned trajectory with a specified contact force, is studied. Two control schemes are presented. The first scheme provides exact control. The second scheme is based on a linear descriptor system, obtained by applying nonlinear feedback from the nonlinear descriptor system, using an LQ synthesis method. The basic procedure for controller design is divided into two steps: first, the nonlinear descriptor system is linearized into a linear system; then various control schemes for different cases are proposed based on the resultant linear model

Published in:

Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on  (Volume:3 )

Date of Conference:

14-16 Dec 1994

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