A new approach to force and position control of robot manipulators

L. Cai; A. A. Goldenberg

doi:10.1109/ICCON.1989.770618

A new approach to force and position control of robot manipulators

L. Cai, A. A. Goldenberg

Research output: Contribution to conference › Conference Paper › peer-review

Abstract

Trajectory control of a robot manipulator when motion is constrained by the environment represents an important class of control problems. We consider the problem of controlling the position and force of a robot manipulator during contact tasks. Based on a dynamics model developed earlier, both position and contact force are modeled as the state variables of the system. These variables arts simultaneously controlled using a nonlinear feedback compensator. Using Lyapnouv's theory, a sufficient condition, which guarantees that the closed loop system remains "practically stable", is presented. The simulation of a two-link planar robot manipulator following a semi-circle surface is given to illustrate the result.

Original language	English
Pages	740-746
Number of pages	7
DOIs	https://doi.org/10.1109/ICCON.1989.770618
Publication status	Published - 1989
Externally published	Yes
Event	1989 IEEE International Conference on Control and Applications, ICCON 1989 - Jerusalem, Israel Duration: 3 Apr 1989 → 6 Apr 1989

Conference

Conference	1989 IEEE International Conference on Control and Applications, ICCON 1989
Country/Territory	Israel
City	Jerusalem
Period	3/04/89 → 6/04/89

Bibliographical note

Publisher Copyright:
© ICCON 1989 - IEEE International Conference on Control and Applications, Proceedings.

Access to Document

10.1109/ICCON.1989.770618

Cite this

@conference{a0b31932cf144aa4886b9ec3e791b1d9,

title = "A new approach to force and position control of robot manipulators",

abstract = "Trajectory control of a robot manipulator when motion is constrained by the environment represents an important class of control problems. We consider the problem of controlling the position and force of a robot manipulator during contact tasks. Based on a dynamics model developed earlier, both position and contact force are modeled as the state variables of the system. These variables arts simultaneously controlled using a nonlinear feedback compensator. Using Lyapnouv's theory, a sufficient condition, which guarantees that the closed loop system remains {"}practically stable{"}, is presented. The simulation of a two-link planar robot manipulator following a semi-circle surface is given to illustrate the result.",

author = "L. Cai and Goldenberg, \{A. A.\}",

note = "Publisher Copyright: {\textcopyright} ICCON 1989 - IEEE International Conference on Control and Applications, Proceedings.; 1989 IEEE International Conference on Control and Applications, ICCON 1989 ; Conference date: 03-04-1989 Through 06-04-1989",

year = "1989",

doi = "10.1109/ICCON.1989.770618",

language = "English",

pages = "740--746",

}

TY - CONF

T1 - A new approach to force and position control of robot manipulators

AU - Cai, L.

AU - Goldenberg, A. A.

PY - 1989

Y1 - 1989

N2 - Trajectory control of a robot manipulator when motion is constrained by the environment represents an important class of control problems. We consider the problem of controlling the position and force of a robot manipulator during contact tasks. Based on a dynamics model developed earlier, both position and contact force are modeled as the state variables of the system. These variables arts simultaneously controlled using a nonlinear feedback compensator. Using Lyapnouv's theory, a sufficient condition, which guarantees that the closed loop system remains "practically stable", is presented. The simulation of a two-link planar robot manipulator following a semi-circle surface is given to illustrate the result.

AB - Trajectory control of a robot manipulator when motion is constrained by the environment represents an important class of control problems. We consider the problem of controlling the position and force of a robot manipulator during contact tasks. Based on a dynamics model developed earlier, both position and contact force are modeled as the state variables of the system. These variables arts simultaneously controlled using a nonlinear feedback compensator. Using Lyapnouv's theory, a sufficient condition, which guarantees that the closed loop system remains "practically stable", is presented. The simulation of a two-link planar robot manipulator following a semi-circle surface is given to illustrate the result.

UR - https://openalex.org/W2492950199

U2 - 10.1109/ICCON.1989.770618

DO - 10.1109/ICCON.1989.770618

M3 - Conference Paper

SP - 740

EP - 746

T2 - 1989 IEEE International Conference on Control and Applications, ICCON 1989

Y2 - 3 April 1989 through 6 April 1989

ER -

A new approach to force and position control of robot manipulators

Abstract

Conference

Bibliographical note

Access to Document

Other files and links

Fingerprint

Cite this