DocumentCode
2752597
Title
Control of Robot Endpoint on Surface
Author
Záda, Václav
Author_Institution
Fac. of Mechatronics, Tech. Univ. of Liberec
fYear
2006
fDate
3-5 July 2006
Firstpage
648
Lastpage
652
Abstract
In this contribution, it is studied PD-control of the robot endpoint which is constrained to move on given surface. This surface is described by a scalar function, which depends on the Cartesian coordinates that are expressed in the inertial reference frame. The contact friction arises in the direction against the motion and is respected. The discussion of this contribution leads to formulate a theorem about asymptotic stability in a neighborhood of desired position
Keywords
PD control; asymptotic stability; motion control; position control; robots; Cartesian coordinate; PD-control; asymptotic stability; contact friction; robot endpoint; scalar function; Control systems; Force control; Gravity; Nonlinear control systems; Nonlinear equations; Orbital robotics; PD control; Robot control; Robot kinematics; Symmetric matrices;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, 2006 IEEE International Conference on
Conference_Location
Budapest
Print_ISBN
0-7803-9712-6
Electronic_ISBN
0-7803-9713-4
Type
conf
DOI
10.1109/ICMECH.2006.252602
Filename
4018437
Link To Document