Global stabilization for constrained robot motions with constraint uncertainties

Robotica

Volumn 16, Issue 2, 1998, Pages 171-179

  Wang, Danwei ^a   Soh, Y C ^a   Ho, Y K ^a   Müller, Peter C ^b  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b UNIVERSITY OF WUPPERTAL   (Germany)

Author keywords

Constrained robot motion; Global stability; Lyapunov's direct approach; Uncertainties

Indexed keywords

CONVERGENCE OF NUMERICAL METHODS; ERROR ANALYSIS; FORCE CONTROL; LYAPUNOV METHODS; POSITION CONTROL; POSITION MEASUREMENT; SYSTEM STABILITY; TWO TERM CONTROL SYSTEMS;

ALGEBRAIC CONSTRAINT FUNCTIONS; CONSTRAINED ROBOT MOTION; LINEAR FEEDBACK CONTROL;

MOBILE ROBOTS;

EID: 0032023231     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574798000502     Document Type: Article

References (24)

1. D.E. Whitney, "Force Feedback Control of Manipulator Fine Motions" Proc. of the 1976 Joint Automatic Control Conf. (1976) pp. 687-693.
2. N.H. McClamroch, "Singular Systems of Differential Equations as Dynamic Models for Constrained Robot Systems" Proceedings of IEEE Conference on Robotics and Automation, (April, 1986), San Francisco, CA (1986) pp. 21-28.
3. M.H. Raibert and J.J. Craig, "Hybrid Position/Force Control of Manipulators" ASME J. of Dynamic Systems, Measurement, and Control 102, 126-133 (June, 1981).
4. T. Yoshikawa, "Dynamics Hybrid Position/Force Control of Robot Manipulators - Description of Hand Constraints and Calculation of Joint Driving Forces" Proceedings of IEEE Conference of Robotics and Automation, San Francisco, CA (1986) pp. 1393-1398.
5. O. Khatib, "A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation" IEEE Journal of Robotics and Automation RA-3, 43-53 (1987).
6. N.H. McClamroch and D. Wang, "Feedback Stabilization and Tracking of Constrained Robots" IEEE Transaction on Automatic Control 33, No. 5 (May, 1988) pp. 419-426.
7. N.H. McClamroch and D. Wang, "Linear Feedback Control of Position and Contact Force for a Nonlinear Constrained Mechanism" J. of Dynamic Systems, Measurement and Control, ASME 112, No. 4, 640-645 (Dec., 1990).
8. D. Wang and N.H. McClamroch, "Stability analysis of the equilibrium of a constrained mechanical system" Int. J. Control 60, No. 5, 733-746 (1994).
9. D. Wang and N.H. McClamroch, "Position and Force Control for Constrained Manipulator Motion: Lyapunov's Direct Approach" IEEE Trans, on Robotics and Automation 9, No. 3, 308-313 (1993).
10. J.K. Mills and A.A. Goldenberg, "Force and Position Control of Manipulators During Constrained Motion Tasks" IEEE Trans, in Robotics and Automation 5, No. 1, 30-46 (Feb., 1989).
11. S. Arimoto, "State-of-the-art and future research directions of robot control" Proceedings of 4th IFAC Sym. on Robot Control, Italy (Sept., 1994) pp. 3-14.
12. S. Arimoto, "Fundamental problems of robot control: Part and Part II" Robotica 13, part 1, 19-27 (1995), id., part 2. 111-122 (1995).
13. S. Arimoto, "Fundamental problems of robot control: Part and Part II" Robotica 13, part 1, 19-27 (1995), id., part 2. 111-122 (1995).
14. S. Arimoto. "Joint-Space Orthogonalization and Passivity for Physical Interpretations of Dextrous Robot Motions Under Geometric Constraints" International Journal of Robust and Nonlinear Control, Vol. 5, (1995), pp. 269-2843.
15. B. Siciliano and L. Villani, "A Passivity-Based Approach to Force Regulation and Motion Control of Robot Manipulators" Automatica 32, No. 3, 443-447 (1996).
16. M. Takegaki and S. Arimoto, "A New Feedback Method for Dynamic Control of Manipulators" J. of Dynamic Systems, Measurement and Control 103, 119-125 (1981).
17. D. Wang and Y.C. Soh, "Control of Constrained Manipulators with Flexible Joints" Dynamics and Control 6, 33-48 (1996).
18. J.T. Wen and S. Murphy, "Stability Analysis of Position and Force Control for Robot Arms" IEEE Trans. Automatic Control 36, No. 3, USA, 365-371 (March, 1991).
19. M. Vidyasagar, Nonlinear Systems Analysis (Prentice-Hall, USA. 1978).
20. H. Berghuis and H. Nijmeier, "Global Regulations of Robots Using only Position Measurements" System and Control Letters 21, 289-293 (1993).
21. I.V. Burkov, "Asymptotic Stabilization of Nonlinear Lagrangian Systems without Measuring Velocities" Proc. of the Intl. Symp. on Active Control in Mechanical Engineering, (1993) Vol. 2, pp. 1-9.
22. R. Kelly, "A Simple Set-point Robot Controller by Using Only Position Measurements" Proc. of the 1993 IFAC World Congress, (1993) Vol. 6, pp. 173-176.
23. R. Kelly, R. Ortega, A. Ailon and A. Loria, "Global Regulation of Flexible Joint Robots Using Approximate Differentiation", IEEE Trans. Automatic Control 39, No. 6, 1222-1224 (1994).
24. S. Nicosia and P. Tomei, "Robot control by using only Joint Position Measurements" IEEE Trans, on Automatic Control 35, 1058-1061 (1990).