On tracking control of rigid manipulators with unilateral constraints

ECC 1997 - European Control Conference

Volumn , Issue , 1997, Pages 3481-3486

  Brogliato, B ^a   Niculescu, S ^a   Monteiro Marques, M ^b  

^a GIPSA LAB   (France)

^b Campo Grande   (Portugal)

Author keywords

Constrained mechanical systems; Hybrid systems; Stability; Unilateral constraints

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; CLOSED LOOP SYSTEMS; CONVERGENCE OF NUMERICAL METHODS; DEGREES OF FREEDOM (MECHANICS); HYBRID SYSTEMS; REDUNDANT MANIPULATORS;

CONSTRAINED MECHANICAL SYSTEMS; DOF (DEGREE OF FREEDOM); GENERALIZED COORDINATES; HYBRID DYNAMICAL; RIGID MANIPULATORS; STABILITY ANALYSIS; TRACKING CONTROLS; UNILATERAL CONSTRAINTS;

SYSTEM STABILITY;

EID: 84949086978     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.23919/ecc.1997.7082652     Document Type: Conference Paper

References (16)

1. K. Youcef-Toumi, D. A. Gutz, 1994 "Impact and force control: modeling and experiments", ASME J. of Dyn. Syst. Meas. and Control, vol. 116, pp. 89-98, March.
2. J. K. Mills, D. M. Lokhorst, 1993 "Control of robotic manipulators during general task execution: A discontinuous control approach", Int. J. of Robotics Research, vol. 12, no 2, pp. 146-163, April.
3. T. J. Tarn, Y. Wu, N. Xi, A. Isidori, 1996 "Force regulation and contact transition control", IEEE Control Systems, February, pp. 32-40.
4. H. P. Huang, N. H. McClamroch, 1988 "Time optimal control for a robotic contour following problem", IEEE J. Robotics and Automation, vol. 4, pp. 140-149.
5. B. Brogliato, 1996 Nonsmooth impact mechanics. Models, dynamics and control, Springer-Verlag, LNCIS 220.
6. B. Brogliato, S. Niculescu, P. Orhant, 1997 "On the control of nite-dimensional mechanical systems with unilateral constraints", IEEE Transactions on Automatic Control, vol. 41, no 2, February.
7. A. A. Ten Dam, E. Dwarshuis, J. C. Willems, 1997 "The contact problem for linear continuous-time dynamical systems: a geometric approach", IEEE Transactions on Automatic Control, vol. 41, no 4, April.
8. B. Paden, R. Panja, 1988 "Globally asymptotically stable PD+ controller for robot manipulators", Int. J. of Control, vol. 47, pp. 1697-1712.
9. J. J. Slotine, W. Li, 1988 "Adaptive manipulator control: A case study", IEEE transactions on Automatic Control, vol. 33, pp. 995-1003.
10. M. Johansson, A. Rantzer, 1996 "Computation of piecewise quadratic Lyapunov functions for hybrid systems", report ISRN LUTFD/TFRT-7549-SE, Lund Inst, of Technology, Dept, of Automatic Control.
11. T. Yoshikawa, 1987 "Dynamic hybrid position/force control of robot manipulators-Description of hand constraints and calculation of joint driving force", IEEE Trans, on Robotics and Automation, vol. 3, no 5, pp. 386-392, October.
12. N. H. McClamroch, D. Wang, 1988 "Feedback stabilization and tracking of constrained robots", IEEE Trans, on Automatic Control, vol. 33, no 5, pp. 419-426, May.
13. L. Paoli, M. Schatzman, 1993 "Mouvement a un nombre ni de degres de liberte avec contraintes unilaterales: cas avec perte d'energie", Mathematical Modelling and numerical analysis (Modelisation mathematique et analyse numerique), vol. 27, no 6, pp. 673-717.
14. M. D. P. Monteiro-Marques, 1993 Di erential inclusions in nonsmooth mechanical problems: shocks and dry friction, Birkhauser, Boston, PNLDE 9.
15. A. Van Der Schaft, J. M. Schumacher, 1996 "The complementarity-slakness class of hybrid systems" Mathematics of Control, Signal and Systems, vol. 9, pp. 266-301.
16. Y. Hurmuzlu, 1993 "Dynamics of bipedal gait: part II-Stability analysis of planar ve-link biped", ASME J. of Applied Mechanics, vol. 60, no 2, pp. 331-344, June.