DocumentCode
2046385
Title
Constraint-combined force/position hybrid control method with Lyapunov stability
Author
Yu, Fujia ; Minami, Mamoru ; Maeba, Tomohide ; Yanou, Akira
Author_Institution
Okayama Univ., Okayama, Japan
fYear
2011
fDate
13-18 Sept. 2011
Firstpage
671
Lastpage
676
Abstract
Based on the analysis of the interaction between a manipulator´s hand and a working object, a model representing the constrained dynamics of the robot is first discussed. In this paper, we design a new compensation of the system based on the constrained system and prove its convergence in a new way with Lyapunov method, in this way we focus on the motion of the manipulator because the output force is a function of the input torque directly which is not affected by time.
Keywords
Lyapunov methods; force control; manipulator dynamics; position control; stability; Lyapunov stability; constraint-combined force-position hybrid control method; manipulator hand-working object interaction; robot dynamics; Dynamics; Equations; Force; Manipulator dynamics; Mathematical model; Constraint-combined; Grinding robot; Lyapunov Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location
Tokyo
ISSN
pending
Print_ISBN
978-1-4577-0714-8
Type
conf
Filename
6060749
Link To Document