Feedback Stabilization and Control of Constrained MechanicalSystems

该项目为研究发展了理论框架， 反馈稳定和控制问题 受约束的机械系统。 一种控制器，其实现某些 无约束机械系统的性能目标可以是 如果受到外部约束，则不适合。 这项工作强烈 由与机器人相关的重要工程问题激发 空间系统。 当接触发生时， 身体之间。 在机器人技术中，当有接触时， 在末端执行器和有效载荷对象之间。 例如这样的 轮廓跟踪、去毛刺、紧固和拾取等操作 落在这个班级里。 对于空间系统， 在卫星对接演习中。 受约束的机器人问题一直是 顺应性和阻抗的最新研究的动机 控制，但始终没有明确考虑接触力 需要保持约束的满足。 研究 大量使用数学方法进行非线性分析 动态系统。 计算机模拟实验将 进行验证的理论发展，并提出新的 研究的理论问题。 要模拟的示例和 研究包括一个粒子约束移动光滑 椭圆线 这个理论也可以在实验上进行检验。 仪表x-y表。

This project develops the theoretical framework for the study of feedback stabilization and control problems associated with constrained mechanical systems. A controller which achieves certain performance objectives for an unconstrained mechanical system may be unsuited if external constraints are imposed. The work is strongly motivated by important engineering problems associated with robots and space systems. The constraint arises when contact is made between bodies. In robotics, this occurs when there is contact between end effectors and payload objects. For example, such operations as contour following, deburring, fastening, and pick and place fall within this class. For space systems, constraints arise in satellite docking maneuvers. Constrained robot problems have been the motivation for much recent research in compliance and impedance control, but always without explicit consideration of contact forces required to maintain satisfaction of the constraints. The research makes substantial use of mathematical methods for nonlinear analysis of dynamic systems. Computer simulation experiments will be performed to verify the theory developed and to suggest new theoretical issues for study. The example to be simulated and investigated comprises a particle constrained to move on a smooth elliptic wire. The theory may also be tested experimentally on an instrumented x-y table.