Dynamic performance of hybrid robot controllers near singularities

Author

Azenha, Abílio ; Machado, J. A Tenreiro

Author_Institution

Dept. de Engenharia Electrotecnica e de Computadores, Porto Univ., Portugal

Volume

4

fYear

1998

fDate

11-14 Oct 1998

Firstpage

3572

Abstract

This paper studies the performance of a variable structure algorithm in the position/force hybrid control of robotic manipulators: It is shown that a reformulation of the kinematic position loop using pseudo-inverses improves the system response namely in the neighbourhood of singular points. The robustness and the system dynamics are analysed in terms of frequency and time responses

Keywords

force control; frequency response; manipulator dynamics; manipulator kinematics; poles and zeros; position control; robust control; variable structure systems; VSC; VSS; dynamic performance; frequency response; hybrid robot controllers; kinematic position loop; position/force hybrid control; pseudo-inverses; robotic manipulators; robustness; singular points; singularities; system dynamics; time response; variable structure algorithm; Force control; Frequency; Jacobian matrices; Manipulator dynamics; Performance analysis; Robot control; Robot kinematics; Robust stability; Robustness; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on

Conference_Location

San Diego, CA

ISSN

1062-922X

Print_ISBN

0-7803-4778-1

Type

conf

DOI

10.1109/ICSMC.1998.726610

Filename

726610