Global regulation of a planar robot arm striking a surface

Author

Tornambè, A.

Author_Institution

Dipartimento di Meccanica e Autom., Terza Univ., Roma, Italy

Volume

41

Issue

10

fYear

1996

fDate

10/1/1996 12:00:00 AM

Firstpage

1517

Lastpage

1521

Abstract

Considers the problem of modeling and controlling the impact of a two-degree-of-freedom planar robot arm against an infinitely rigid and massive surface. For this case study, the basic equations describing the motion of the robot arm are derived for noncontact and contact conditions. A control scheme is proposed on the basis of a reduced-order observer that is able to asymptotically estimate the impact-induced forces and to allow their asymptotic compensation when the robot arm is in contact with the surface. The resulting control system ensures the global asymptotic regulation of the position of the arm with an assigned impact-induced force. The case study is completed by a simulation test

Keywords

asymptotic stability; manipulators; observers; position control; reduced order systems; asymptotic compensation; asymptotic estimation; contact; global asymptotic regulation; impact-induced forces; infinitely rigid massive surface; noncontact; reduced-order observer; two-degree-of-freedom planar robot arm; Control systems; Equations; Force control; Legged locomotion; Manipulators; Motion control; Orbital robotics; Robots; Stress control; Velocity control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.539436

Filename

539436