Robust stiffness control for constrained robots under model uncertainties

Author

Mehdi, H. ; Boubaker, Olfa

Author_Institution

Centre Urbain Nord, Nat. Inst. of Appl. Sci. & Technol., Tunis, Tunisia

fYear

2013

fDate

21-23 March 2013

Firstpage

1

Lastpage

5

Abstract

In this paper, we present an improved proof of global asymptotic stability of constrained robotic systems under model uncertainties. The control objective is to make the robotic manipulator´s end effector to track the reference trajectories in the task space. The proposed approach is an enough straightforward method without force and position control separation. It´s based on the Lyapunov Hamiltonian method and the stiffness control strategy. The robustness of the suggested robust controller is proved via simulation results.

Keywords

Lyapunov methods; asymptotic stability; end effectors; force control; robust control; tracking; trajectory control; uncertain systems; Lyapunov Hamiltonian method; constrained robotic system; control objective; force control; global asymptotic stability; model uncertainty; position control; reference trajectory tracking; robotic manipulator end effector; robust stiffness control; robustness; task space; Force; Joints; Manipulators; Robustness; Uncertainty; Vectors; Lyapunov theory; Robust control; Stiffness control; constrained robot; model uncertainties;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering and Software Applications (ICEESA), 2013 International Conference on

Conference_Location

Hammamet

Print_ISBN

978-1-4673-6302-0

Type

conf

DOI

10.1109/ICEESA.2013.6578388

Filename

6578388