Robust control of a constrained robot arm
説明
In this paper, the problem of designing a robust control for trajectory tracking of the end effector on a constrained surface with specified constraint force is considered. The loss of degree of freedom of the constrained robot, leads to a reduced dynamical model suitable for motion and force control. The authors consider here a perturbed system due to the presence of system modeling uncertainties and disturbances which satisfy some matching conditions. Under these conditions, using input-output linearization, both motion and force control loops will be linearized and decoupled. Because of its robustness, a sliding mode controller (SMC) will be introduced to deal with these uncertainties.
収録刊行物
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- Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)
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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) 1 91-96, 2002-12-30
IEEE