Implicit and Explicit Force Controllers for Rheo-Holonomically Constrained Manipulators and their Extensions to Distributed Cooperation Control

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Abstract This paper deals with position and force tracking of manipulators with end-effectors constrained on time-varying surfaces. Two controllers respectively without and with force feedback are proposed by using the joint-space orthogonalization scheme, which decouples position and force signals in the joint-spaces. It will be shown that energy-based Lyapunov functions guarantee exponential convergences of both the position and force errors. The controllers are further generalized to distributed or decentralized cooperation control of multiple manipulators. Unlike centralized controllers, our controllers have simple structures and are easy to implement even for systems with many manipulators.

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