Robust scheme of global parallel force/position regulators for robot manipulators under environment uncertainty
Chunqing HUANG
Lisang LIU
Xinggui WANG
Songjiao SHI
摘要：A simple robust scheme of parallel force/position control is proposed in this paper to deal with two problems for non-planar constraint surface and nonlinear mechanical feature of environment: i) uncertainties in environment that are usually not available or difficult to be determined in most practical situations; ii) stability problem or/and integrator windup due to the integration of force error in the force dominance rule in parallel force/position control. It shows that this robust scheme is a good alternative for anti-windup. In the presence of environment uncertainties, global asymptotic stability of the resulting closed-loop system is guaranteed; it also shows robustness of the proposed controller to uncertain environment with complex characteristics. Finally, numerical simulation verifies results via contact task of a two rigid-links robot manipulator.
机标关键词：asymptotic stabilitymechanical featurerobot manipulatordominance ruledeal with
分类号：TP3(计算技术、计算机技术)
论文发表日期：2007-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：7( 271-277 )
英文信息