Force/position output feedback tracking control of holonomically constrained rigid bodies

Proceedings of the American Control Conference

Volumn 4, Issue , 2005, Pages 2516-2521

  Melhem, Khoder ^a   Boukas, El Kebir ^a   Baron, Luc ^a  

^a ÉCOLE POLYTECHNIQUE DE MONTRÉAL   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

FORCE CONTROL; MOTION CONTROL; RIGIDITY; TRAJECTORIES;

FEEDBACK TRACKING CONTROL; FORCE CONTROL APPROACH; MECHANICAL CONSTRAINTS; RIGID BODY SYSTEMS;

TRACKING (POSITION);

EID: 23944490250     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. E. Panteley and A. Stotsky, Adaptive trajectory/force control scheme for constrained robot manipulators, Int. J. Adapt. Contr. Sign. Process., vol. 7, no. 6, 1993.
2. T. Burg, J. Hu, and D. Dawson, "A redesigned deal controller without velocity measurements: Theory and experimentation", in 33rd. IEEE Conf. Decision Contr., Lake Buena Vista, FL, December 1994, pp. 824-828.
3. M.S. de Queiroz, D. Dawson, and T. Burg, Position/force control of robot manipulators without velocity/force measurements, Int. J. on Robotics Automat., vol. 12, no. 1, 1997.
4. A. Loría and E. Panteley, Force/motion control of constrained manipulators without velocity measurements, IEEE Trans. on Automat. Contr., vol. 2. 1999, pp. 99-105.
5. K. Melhem, Z. Liu, and A. Loria. "A Unified Framework for Dynamics and Lyapunov Stability of Holonomically Constrained Rigid Bodies", in 2nd. IEEE Int. Conf. on Computational Cybernetics, Vienna, Austria, 2004, pp. 199-205.
6. K. Melhem, E.K. Boukas, and L. Baron, Force/Position Output Feedback Tracking Control of Holonomically Constrained Rigid Bodies, Technical report (available from the author upon request), École Polytechnique de Montréal, Montreal, Canada; 2005.