Robust control of position and force for robot manipulators involving both free and constrained motion

L. Cai; A. A. Goldenberg

doi:10.1109/CDC.1990.203961

Robust control of position and force for robot manipulators involving both free and constrained motion

L. Cai^*, A. A. Goldenberg

^*Corresponding author for this work

Research output: Contribution to journal › Conference article published in journal › peer-review

11 Citations (Scopus)

Abstract

The problem of the robust control of the position and force of robot manipulators during free and constrained motion is addressed. The issue of collision avoidance during the transition between free and constrained motion is also examined. Using the proposed control scheme, it is shown that the controller can be automatically switched when a free moving robot comes in contact with a rigid environment, or vice versa. A stability analysis and a numerical example of a three-degree-of-freedom robot performing free and constrained motion are presented. It is shown that the proposed controller is robust with respect to the system parameter uncertainties.

Original language	English
Pages (from-to)	1943-1948
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	3
DOIs	https://doi.org/10.1109/CDC.1990.203961
Publication status	Published - 1990
Externally published	Yes
Event	Proceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA Duration: 5 Dec 1990 → 7 Dec 1990

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SDG 3 Good Health and Well-being

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10.1109/CDC.1990.203961

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title = "Robust control of position and force for robot manipulators involving both free and constrained motion",

abstract = "The problem of the robust control of the position and force of robot manipulators during free and constrained motion is addressed. The issue of collision avoidance during the transition between free and constrained motion is also examined. Using the proposed control scheme, it is shown that the controller can be automatically switched when a free moving robot comes in contact with a rigid environment, or vice versa. A stability analysis and a numerical example of a three-degree-of-freedom robot performing free and constrained motion are presented. It is shown that the proposed controller is robust with respect to the system parameter uncertainties.",

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

year = "1990",

doi = "10.1109/CDC.1990.203961",

language = "English",

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pages = "1943--1948",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0191-2216",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) ; Conference date: 05-12-1990 Through 07-12-1990",

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T1 - Robust control of position and force for robot manipulators involving both free and constrained motion

AU - Cai, L.

AU - Goldenberg, A. A.

PY - 1990

Y1 - 1990

N2 - The problem of the robust control of the position and force of robot manipulators during free and constrained motion is addressed. The issue of collision avoidance during the transition between free and constrained motion is also examined. Using the proposed control scheme, it is shown that the controller can be automatically switched when a free moving robot comes in contact with a rigid environment, or vice versa. A stability analysis and a numerical example of a three-degree-of-freedom robot performing free and constrained motion are presented. It is shown that the proposed controller is robust with respect to the system parameter uncertainties.

AB - The problem of the robust control of the position and force of robot manipulators during free and constrained motion is addressed. The issue of collision avoidance during the transition between free and constrained motion is also examined. Using the proposed control scheme, it is shown that the controller can be automatically switched when a free moving robot comes in contact with a rigid environment, or vice versa. A stability analysis and a numerical example of a three-degree-of-freedom robot performing free and constrained motion are presented. It is shown that the proposed controller is robust with respect to the system parameter uncertainties.

UR - https://www.scopus.com/pages/publications/0025540402

U2 - 10.1109/CDC.1990.203961

DO - 10.1109/CDC.1990.203961

M3 - Conference article published in journal

AN - SCOPUS:0025540402

SN - 0191-2216

VL - 3

SP - 1943

EP - 1948

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - Proceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6)

Y2 - 5 December 1990 through 7 December 1990

ER -

Robust control of position and force for robot manipulators involving both free and constrained motion

Abstract

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