Cart (Loading....) | Create Account
Close category search window

Force-position exponential tracking of redundant manipulators with model-free sliding PD control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Navarro-Alarcon, D. ; Robot. & Adv. Manuf. Div., Res. Center for Adv. Studies, CINVESTAV, Mexico City ; Parra-Vega, V.

A passivity-based model-free second order sliding mode controller is proposed for redundant manipulators under holonomic constraints. The closed-loop system enforces exponential tracking on the exerted contact force and the end-effector cartesian position trajectories as the primary task, while the controller reconfigures dynamically the whole kinematic chain in order to satisfy a secondary task through the redundant constrained degrees of freedom. To achieve this, the orthogonalization principle and the proposed redundancy resolution technique, are together synthesized for redundant constrained robots. This way, two pairs of orthogonal subspaces arises, the joint velocity and contact force orthogonal pair, and the end-effector velocity and null space orthogonal pair. Therefore, independent control on the end-effector cartesian position and the exerted contact force can be achieved, while proper control of the null space variables will allow to simultaneously carry out a secondary task, by locally optimizing a given cost function. Simulation results of the 7 degrees of freedom PA10 Mitsubishi robot manipulator performing tracking tasks on the cartesian, force, and null space (redundancy) subspaces are presented.

Published in:

Electrical Engineering, Computing Science and Automatic Control, 2008. CCE 2008. 5th International Conference on

Date of Conference:

12-14 Nov. 2008

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.