DocumentCode
3473284
Title
Hybrid control for a class of constrained mechanical systems
Author
Liu, Jing-Sin
Author_Institution
Inst. of Inf. Sci., Acad. Sinica, Taipei, Taiwan
fYear
1991
fDate
11-13 Dec 1991
Firstpage
1046
Abstract
The author studies the hybrid tracking problem for a class of mechanical systems, described by Euler-Lagrange equations of motion, subject to a set of holonomic and/or nonholonomic constraints in a unified fashion. Based on a QR -like decomposition of the constraint Jacobian, it is shown that the constraint-force free and reduced constrained motions of constrained mechanical systems can be naturally separated. A new hybrid control is proposed for the decomposed motions to achieve simultaneous, independent position and force tracking
Keywords
control system analysis; force control; position control; robots; Euler-Lagrange equations; QR-like decomposition; constrained mechanical systems; constraint Jacobian; force control; holonomic constraints; hybrid control; nonholonomic constraints; position control; robotics; tracking problem; Control systems; Equations; Force control; Information science; Jacobian matrices; Mechanical systems; Motion control; Null space; Robot kinematics; Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location
Brighton
Print_ISBN
0-7803-0450-0
Type
conf
DOI
10.1109/CDC.1991.261483
Filename
261483
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