NDLI: An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments

Content Provider	IEEE Xplore Digital Library
Author	Jafari, A. Jee-Hwan Ryu Rezaei, M. Monfaredi, R. Talebi, A. Ghidary, S.S.
Copyright Year	2013
Description	Author affiliation: Dept. of Electr. Eng., Amirkabir Univ. of Technol., Tehran, Iran (Talebi, A.) \|\| Dept. of Mech. Eng., Amirkabir Univ. of Technol., Tehran, Iran (Rezaei, M.; Monfaredi, R.) \|\| Sch. of Mech. Eng., Korea Univ. of Technol. & Educ., Cheonan, South Korea (Jafari, A.; Jee-Hwan Ryu) \|\| Dept. of Comput. Eng., Amirkabir Univ. of Technol., Tehran, Iran (Ghidary, S.S.)
Abstract	In the present paper, the objective of hybrid control is specified and an adaptive hybrid force/motion control approach is proposed. Based on the concept of hybrid control, the task space is decomposed into position and force controlled subspaces. An adaptive scheme is presented which makes the controller robust when the robot is in interaction with an unknown non-rigid environment. By using the classical Lyapunov method, it is demonstrated that the proposed control law ensures the tracking of the unconstrained components of the desired end-effector trajectories, with regulation of the desired contact force along the constrained direction. Simulation results verify the effectiveness of our prosperous adaptive hybrid control in robot-environment interaction.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1
Ending Page	5
File Size	873759
Page Count	5
File Format	PDF
ISBN	9781479911738
DOI	10.1109/ISR.2013.6695632
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-10-24
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hybrid Control Symmetric matrices Robot kinematics Force Adaptive Control Educational institutions Robust Control Robot-Environment Interaction Vectors Robustness
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Sliding mode hybrid impedance control of robot manipulators interacting with unknown environments using VSMRC method

Adaptive Force-motion Control of Coordinated Robots Interacting with Geometrically Unknown Environments

Mechanical analogies in hybrid position/force control

Robust Adaptive Control of Multiple Robots in Cooperative Motion

Robust adaptive motion and force control of robot manipulators in unknown stiffness environments

Hybrid force/motion control of two arms carrying an object

Robust control of rigid-link electrically-driven robot manipulators

Nonlinear Robust Hybrid Control of Robot Manipulators

Testing experimentally the robustness against friction of a force control algorithm

An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments

Similar Documents

Sliding mode hybrid impedance control of robot manipulators interacting with unknown environments using VSMRC method

Adaptive Force-motion Control of Coordinated Robots Interacting with Geometrically Unknown Environments

Mechanical analogies in hybrid position/force control

Robust Adaptive Control of Multiple Robots in Cooperative Motion

Robust adaptive motion and force control of robot manipulators in unknown stiffness environments

Hybrid force/motion control of two arms carrying an object

Robust control of rigid-link electrically-driven robot manipulators

Nonlinear Robust Hybrid Control of Robot Manipulators

Testing experimentally the robustness against friction of a force control algorithm

An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments