Title :
Dynamic performance of hybrid robot controllers near singularities
Author :
Azenha, Abílio ; Machado, J. A Tenreiro
Author_Institution :
Dept. de Engenharia Electrotecnica e de Computadores, Porto Univ., Portugal
Abstract :
This paper studies the performance of a variable structure algorithm in the position/force hybrid control of robotic manipulators: It is shown that a reformulation of the kinematic position loop using pseudo-inverses improves the system response namely in the neighbourhood of singular points. The robustness and the system dynamics are analysed in terms of frequency and time responses
Keywords :
force control; frequency response; manipulator dynamics; manipulator kinematics; poles and zeros; position control; robust control; variable structure systems; VSC; VSS; dynamic performance; frequency response; hybrid robot controllers; kinematic position loop; position/force hybrid control; pseudo-inverses; robotic manipulators; robustness; singular points; singularities; system dynamics; time response; variable structure algorithm; Force control; Frequency; Jacobian matrices; Manipulator dynamics; Performance analysis; Robot control; Robot kinematics; Robust stability; Robustness; Torque control;
Conference_Titel :
Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4778-1
DOI :
10.1109/ICSMC.1998.726610
