Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2008, Pages 1999-2004

  Ott, Christian ^a   Kugi, Andreas ^b   Nakamura, Yoshihiko ^a  

^a UNIVERSITY OF TOKYO   (Japan)

^b VIENNA UNIVERSITY OF TECHNOLOGY   (Austria)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; COMPUTER NETWORKS; DIFFERENTIAL EQUATIONS; INDUSTRIAL ENGINEERING; LYAPUNOV FUNCTIONS; REDUNDANT MANIPULATORS; ROBOTICS; SYSTEM STABILITY; TELECOMMUNICATION NETWORKS;

COMPLIANCE CONTROL; INTERNATIONAL CONFERENCES;

MANIPULATORS;

EID: 51649106009     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2008.4543500     Document Type: Conference Paper

References (14)

1. Y. Nakamura, Advanced Robotics: Redundancy and Optimization. Addison-Wesley, 1991.
2. O. Khatib, "A unified approach for motion and force control of robot manipulators: The operational space formulation," IEEE Journal of Robotics and Automation, vol. 3, no. 1, pp. 1115-1120, 1987.
3. J. Park, "Analysis and control of kinematically redundant manipulators: An approach based on kinematically decoupled joint space decomposition," Ph.D. dissertation, Pohang University of Science and Technology (POSTECH), 1999.
4. J. Park, W. Chung, and Y. Youm, "On dynamical decoupling of kinematically redundant manipulators," in IEEE/RSJ Int. Conference on Intelligent Robots and Systems, 1999, pp. 1495-1500.
5. Y. Oh, W. Chung, and Y. Youm, "Extended impedance control of redundant manipulators using joint space decomposition," in IEEE Int. Conference on Robotics and Automation, 1997, pp. 1080-1087.
6. J. Baillieul, "Kinematic programming alternatives for redundant manipulators," in IEEE Int. Conference on Robotics and Automation, 1985, pp. 722-728.
7. Ch. Ott, "Cartesian impedance control of flexible joint manipulators," Ph.D. dissertation, Saarland University, November 2005.
8. S. Zhang and E. D. Fasse, "Spatial compliance modeling using a quaternion-based potential function method," Multibody System Dynamics, vol. 4, pp. 75-101, 2000.
9. C. Natale, B. Siciliano, and L. Villani, "Spatial impedance control of redundant manipulators," in IEEE Int. Conference on Robotics and Automation, 1999, pp. 1788-1793.
10. M. Huang and H. Varma, "Optimal rate allocation in kinematically redundant manipulators - the dual projection method," IEEE Int. Conference on Robotics and Automation, pp. 702-707, 1991.
11. Y.-C. Chen and I. D. Walker, "A consistent null-space based approach to inverse kinematics of redundant robots," in IEEE Int. Conference on Robotics and Automation, 1993, pp. 374-381.
12. A. Iggidr, B. Kalitine, and R. Outbib, "Semidefinite lyapunov functions: Stability and stabilization," Mathematics of Control, Signals, and Systems, vol. 9, pp. 95-106, 1996.
13. 2-Gain and Passivity Techniques in Nonlinear Control, 2nd ed. Springer-Verlag, 2000.
14. R. Sepulchre, M. Jankovic, and P. Kokotovic, Constructive Nonlinear Control. Springer-Verlag, 1997.