Title :
Position and force control of robot arms
Author_Institution :
Dept. of Electr., Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
A stability analysis for robot manipulators under the influence of external forces is presented. Several control objectives are considered: rejecting the external force as a source of disturbance, complying with the external force as a generalized mass-spring-damper system, and actively controlling the external force when a dynamic model of the environment is available. In each of these cases, a stability analysis using the Lyapunov method is presented
Keywords :
Lyapunov methods; force control; industrial robots; position control; stability; Lyapunov method; control objectives; dynamic model; force control; generalized mass-spring-damper system; position control; robot arms; robot manipulators; stability analysis; End effectors; Force control; Force feedback; Manipulators; Position control; Robots; Robust stability; Stability analysis; Steady-state; Trajectory;
Conference_Titel :
Intelligent Control, 1989. Proceedings., IEEE International Symposium on
Conference_Location :
Albany, NY
Print_ISBN :
0-8186-1987-2
DOI :
10.1109/ISIC.1989.238685
