Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties
Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties
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DOI：
10.1016/s0005-1098(03)00002-5
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发表时间：
2003-05
期刊：
影响因子：
--
通讯作者：
C. Cheah;S. Kawamura;S. Arimoto
中科院分区：
文献类型：
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作者：
C. Cheah;S. Kawamura;S. Arimoto
迄今为止，大多数关于机器人操纵器混合位置和力控制定律的研究都假设运动学知识是准确已知的。在存在建模误差的情况下，约束机器人系统的稳定性是否仍能得到保证是未知的。本文提出并解决了具有运动学和动力学不确定性的约束机器人的稳定性和设定点控制问题。我们将证明，即使存在此类不确定性，机械手末端执行器的运动也是渐近稳定的。
Most research so far on hybrid position and force control laws of robotic manipulator has assumed that knowledge of kinematics is known exactly. In the presence of modeling errors, it is unknown whether the stability of the constrained robot system can still be ensured. In this paper, stability and setpoint control problems of constrained robot with kinematics and dynamics uncertainties are formulated and solved. We shall show that the manipulator end-effector's motion is asymptotically stable even in the presence of such uncertainties.