INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
artículos
Título:
Robust hybrid motion-force control algorithm for robot manipulators
Autor/es:
VICENTE MUT; JOSÉ POSTIGO; RICARDO CARELLI; BENJAMÍN KUCHEN
Revista:
International Journal of Engineering
Referencias:
Lugar: Tehran, Iran; 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 main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is proved globally stable in the sense that the control objectives are achieved asymptotically.
