NDLI: Lyapunov-stable position/force control based on dual nature in constraint motion

Content Provider	IEEE Xplore Digital Library
Author	Minami, M. Fujia Yu Yanou, A.
Copyright Year	2013
Description	Author affiliation: Grad. Sch. of Natural Sci. & Technol., Okayama Univ. Tsushimanaka, Okayama, Japan (Minami, M.; Fujia Yu; Yanou, A.)
Abstract	In the model of the constrained dynamic system of a rigid robot contacting with rigid environment, constrained forces can be expressed as an algebraic function of states (instantaneous process) and a redundancy existing in constraint dynamics (constraint redundancy). Using these results, a force and position control law is proposed by taking the advantages of the redundancy of input generalized forces to the constrained forces and instantaneous process without involving any force sensor, using dual nature of constraint motion stated in this document. Then proof confirming by Lyapunov method that the exerting force equals instantaneously and constantly to desired one and that the motion of robot's hand in a movable space converges to desired hand's position. The effectiveness has been confirmed by a 2-link robot in simulations.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2894
Ending Page	2901
File Size	405397
Page Count	8
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696766
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Mathematical model Dynamics Equations Manipulator dynamics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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