INVESTIGADORES
MUT Vicente Antonio
artículos
Título:
Robust Hybrid Motion-Force Control Of Robots
Autor/es:
MUT, VICENTE; POSTIGO, JOSÉ; CARELLI, RICARDO
Revista:
International Journal of Engineering
Editorial:
Materials and Energy Research Center
Referencias:
Lugar: Teherán, Irán; Año: 2000 vol. 13 p. 55 - 64
ISSN:
1025-2495
Resumen:
In this paper we present a robust. hybrid motion/force controller for rigid robot manipulators. The hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty in robot dynamics and stiffness constraint constant. The proposed scheme is proven globally stable in the sense that the control objectives are achieved asymptotically, when a signum function is used in the control law, though giving rise to chattering effects. To avoid this problem we use the saturation function.In this case the motion and force errors are not zero but bounded functions. In this control structure there is no need to measure the interaction force derivative.
