Paper Info
Title
Kinematic Stability Of Hybrid Position Force Control For Robots
Abstract
The stability of the hybrid position/force control for manipulators is examined using Lyapunov's direct method for decentralized controllers which are in the form of linear feedback of projected joint errors, This paper aims in clarifying the kinematic instabilities that have been reported to exist for the original hybrid control scheme, using the Jacobian inverse for mapping cartesian errors to joint errors, and which have been later remedied in a control scheme using the Jacobian pseudoinverse. Stability conditions demonstrate the importance of the joint error projection matrix and the contact state. Experimental results for a 2-degrees-of-freedom planar manipulator using a PUMA 560 are given both in free space and in contact with a stiff wall.
Year
DOI
Venue
1998
10.1109/IROS.1998.727452
1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS
Keywords
Field
DocType
direct method,robots,stability,stability conditions,kinematics,degree of freedom,inverse problems,force feedback,feedback,error correction
Lyapunov function,Kinematics,Jacobian matrix and determinant,Computer science,Control theory,Stability conditions,Moore–Penrose pseudoinverse,Projection (linear algebra),Control engineering,Inverse problem,Cartesian coordinate system
Conference
Citations 
PageRank 
References 
0
0.34
8
Authors
3
Name
Order
Citations
PageRank
Zoe Doulgeri133247.11
Nikolaos Fahantidis291.60
Richard P. Paul3190111.56