Abstract:
The present paper considers a position and force control method for robot manipulators under holonomic constraints. The constraint surface type is assumed to be known, wh...Show MoreMetadata
Abstract:
The present paper considers a position and force control method for robot manipulators under holonomic constraints. The constraint surface type is assumed to be known, whereas the parameters of the surface are not known. The parameters of the constraint surface are estimated using the least squares method, and the incorrect target position is modified optimally to be on the true constraint surface. In the proportional-integral-derivative (PID) controller, finite-gain L2 stability is achieved based on passivity. The proposed method is verified through numerical simulations on a two-link robot arm with a planar constraint surface with parameter uncertainties.
Published in: 2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)
Date of Conference: 24-27 August 2015
Date Added to IEEE Xplore: 01 October 2015
ISBN Information:
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Robot Manipulator ,
- Control Of Robot Manipulators ,
- Numerical Simulations ,
- Least-squares ,
- Target Location ,
- Parameter Uncertainty ,
- Robotic Arm ,
- Surface Parameters ,
- Incorrect Location ,
- True Surface ,
- Optimal Control ,
- Diagonal Matrix ,
- Control Performance ,
- Nominal Value ,
- Robust Control ,
- Contact Force ,
- Skew-symmetric ,
- First Integral ,
- Input Saturation ,
- Surface Estimation ,
- Positive Diagonal Matrix ,
- Modification Of Position
- Author Keywords
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Robot Manipulator ,
- Control Of Robot Manipulators ,
- Numerical Simulations ,
- Least-squares ,
- Target Location ,
- Parameter Uncertainty ,
- Robotic Arm ,
- Surface Parameters ,
- Incorrect Location ,
- True Surface ,
- Optimal Control ,
- Diagonal Matrix ,
- Control Performance ,
- Nominal Value ,
- Robust Control ,
- Contact Force ,
- Skew-symmetric ,
- First Integral ,
- Input Saturation ,
- Surface Estimation ,
- Positive Diagonal Matrix ,
- Modification Of Position
- Author Keywords
