Title :
Control of Robot Endpoint on Surface
Author_Institution :
Fac. of Mechatronics, Tech. Univ. of Liberec
Abstract :
In this contribution, it is studied PD-control of the robot endpoint which is constrained to move on given surface. This surface is described by a scalar function, which depends on the Cartesian coordinates that are expressed in the inertial reference frame. The contact friction arises in the direction against the motion and is respected. The discussion of this contribution leads to formulate a theorem about asymptotic stability in a neighborhood of desired position
Keywords :
PD control; asymptotic stability; motion control; position control; robots; Cartesian coordinate; PD-control; asymptotic stability; contact friction; robot endpoint; scalar function; Control systems; Force control; Gravity; Nonlinear control systems; Nonlinear equations; Orbital robotics; PD control; Robot control; Robot kinematics; Symmetric matrices;
Conference_Titel :
Mechatronics, 2006 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-9712-6
Electronic_ISBN :
0-7803-9713-4
DOI :
10.1109/ICMECH.2006.252602
