Title :
Kinematic stability of hybrid position/force control for robots
Author :
Doulgeri, Z. ; Fahantidis, N. ; Paul, R.P.
Author_Institution :
Dept. of Electr. & Comput. Eng., Aristotelian Univ. of Thessaloniki, Greece
Abstract :
The stability of the hybrid position/force control for manipulators is examined using Lyapunov´s direct method for decentralized controllers which are in the form of linear feedback of projected joint errors. This paper aims in clarifying the kinematic instabilities that have been reported to exist for the original hybrid control scheme using the Jacobian inverse for mapping cartesian errors to joint errors, and which have been later remedied in a control scheme using the Jacobian pseudoinverse. Stability conditions demonstrate the importance of the joint error projection matrix and the contact state. Experimental results for a 2-degrees-of-freedom planar manipulator using a PUMA 560 are given both in free space and in contact with a stiff wall
Keywords :
Jacobian matrices; Lyapunov methods; decentralised control; feedback; force control; inverse problems; manipulator kinematics; position control; stability criteria; 2-DOF planar manipulator; Cartesian error mapping; Jacobian inverse; Jacobian pseudoinverse; Lyapunov direct method; PUMA 560; decentralized controllers; hybrid position/force control; joint error projection matrix; joint errors; kinematic instabilities; kinematic stability; linear feedback; manipulators; projected joint errors; robots; stability conditions; Error correction; Force control; Force feedback; Jacobian matrices; Kinematics; Linear feedback control systems; Manipulators; Robots; Stability; Transmission line matrix methods;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727452
