DocumentCode :
299943
Title :
Adaptive control for holonomically constrained robots: time-invariant and time-variant cases
Author :
Liu, Yun-Hui ; Arimoto, Suguru ; Kitagaki, Kosei
Author_Institution :
Hong Kong Univ., Hong Kong
Volume :
1
fYear :
1995
fDate :
21-27 May 1995
Firstpage :
905
Abstract :
This paper presents a general approach of model-based adaptive hybrid control for holonomically constrained manipulators. Both time-invariant and time-variant constraints are dealt with. This controller works on the basis of an orthogonalization principle of trajectory and force errors in the joint space and intrinsic characters of the manipulator dynamics. Its asymptotic stability is guaranteed by a passivity-based Lyapunov function. A distributed cooperation controller based on the same concept for multiple manipulators is also presented. Further, we show a parallel implementation of this controller using transputers on a six DOF direct drive manipulator, and some experimental results
Keywords :
Lyapunov methods; asymptotic stability; manipulators; model reference adaptive control systems; asymptotic stability; distributed cooperation controller; force errors; holonomically constrained robots; intrinsic characters; manipulator dynamics; model-based adaptive hybrid control; multiple manipulators; orthogonalization; passivity-based Lyapunov function; six DOF direct drive manipulator; time-invariant constraints; time-varying constraints; trajectory errors; Adaptive control; Asymptotic stability; Distributed control; Error correction; Force control; Lyapunov method; Manipulator dynamics; Orbital robotics; Programmable control; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
ISSN :
1050-4729
Print_ISBN :
0-7803-1965-6
Type :
conf
DOI :
10.1109/ROBOT.1995.525398
Filename :
525398
Link To Document :
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