NDLI: Passive Force/Velocity Field Control for contour tracking of constrained robots

Content Provider	IEEE Xplore Digital Library
Author	Munoz-Vazquez, A.-J. Parra-Vega, V. Sanchez, A. Rosales, S. Garcia, O. Ruiz-Sanchez, F.
Copyright Year	2013
Description	Author affiliation: Lab. of Non-inertial Robots & Man-machine Interfaces, Cinvestav, Monterrey, Mexico (Garcia, O.) \|\| Robot. & Adv. Manuf. Div., Res. Center for Adv. Studies (Cinvestav), Saltillo, Mexico (Munoz-Vazquez, A.-J.; Parra-Vega, V.; Sanchez, A.; Rosales, S.; Ruiz-Sanchez, F.)
Abstract	Passive Force Velocity Field Control (PFVFC) renders tracking along tangent of the contour, with low normal velocity regime, which is of particular interest for constrained tasks. Despite the evident advantageous characteristics of PFVFC, the original pioneering approach by Li&Horowitz has shown limitation for implementation. In this paper, a simpler yet faster and robust PFVFC is proposed for exponential contour force-velocity-position tracking. A regressor-free second order sliding mode is presented to produce an invariant error manifold for all time and for any initial condition. In this way, the robot velocity is immersed all time in the Passive Force-Velocity Field (PFVF), which is based on a fuzzy aggregation of orthogonal decomposition of the holonomic constraint that models the contour. In contrast to the original approach, our scheme does neither require the virtual fly wheel subsystem nor robot dynamic model nor derivative of the field. In this sense we argue our approach stands for a novel PFVFC, not a betterment nor extension of the Li&Horowitz one. Simulations for 2D and 3D robots are presented and discussed, which show the feasibility and viability of the proposed approach.
Starting Page	5728
Ending Page	5734
File Size	360487
Page Count	7
File Format	PDF
ISBN	9781479901777
ISSN	07431619
e-ISBN	9781479901784
DOI	10.1109/ACC.2013.6580735
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Robot kinematics Force Convergence Jacobian matrices Vectors Aerospace electronics
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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