DocumentCode :
1864527
Title :
A unified theory for hybrid control of manipulators
Author :
Sinha, Pramath R. ; Goldenberg, Andrew A.
Author_Institution :
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
fYear :
1993
fDate :
2-6 May 1993
Firstpage :
343
Abstract :
Reciprocity-based task decomposition is established as a unified theory for the hybrid control of robots. All aspects of the decomposition are comprehensively interpreted to provide an unambiguous description of the force and motion constraints in a constrained motion task. The decomposition which is based on sets of screws and a corresponding indefinite inner product, is the most general and mathematically consistent task description for the hybrid control of robots. The authors also show that the prevalent theory of hybrid control is a misinterpretation of a special case of the general theory they describe. As a step toward designing hybrid controllers, the results are used to decompose the manipulator dynamics to obtain suitable equations of motion
Keywords :
control system synthesis; force control; manipulators; position control; decomposition; dynamics; force constraints; hybrid control; manipulators; motion constraints; reciprocity based task decomposition; robots; unified theory; Automatic control; Constraint theory; Control theory; Equations; Fasteners; Force control; Manipulator dynamics; Motion control; Robot control; Robotics and automation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
Type :
conf
DOI :
10.1109/ROBOT.1993.292005
Filename :
292005
Link To Document :
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