DocumentCode
1809011
Title
Stable hybrid position/force control for redundant manipulators
Author
Li, Luya ; Gruver, William A.
Author_Institution
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Volume
4
fYear
1997
fDate
12-15 Oct 1997
Firstpage
3261
Abstract
Hybrid position/force control is not always stable by adjusting the control parameters. There may be unstable regions if position and force control are exerted simultaneously because of an inappropriate kinematic coordinate transformation in the feedback path. To realize hybrid control for redundant manipulators, we analyze system stability and develop an improved hybrid control scheme that ensures kinematically stable operation
Keywords
compliance control; force control; manipulator dynamics; position control; stability; kinematic coordinate transformation; kinematically stable operation; redundant manipulators; stable hybrid position/force control; system stability; unstable regions; Control systems; Error correction; Force control; Force feedback; Intelligent robots; Jacobian matrices; Manipulator dynamics; Robot kinematics; Stability; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1062-922X
Print_ISBN
0-7803-4053-1
Type
conf
DOI
10.1109/ICSMC.1997.633114
Filename
633114
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