Title :
Compliant control of constrained robot manipulators: a mathematical formulation and control expressions
Author :
Yoon, Choong Sup ; Salam, Fathi M A
Author_Institution :
Dept. of Electr. Eng. & Syst. Sci., Michigan State Univ., East Lansing, MI, USA
Abstract :
The authors formulate the compliant control problem mathematically, using the framework of constrained Hamiltonian systems. They then derive nonlinear control expressions for the force and the motion on the constraint surface. The derivations reveal conditions that define the class of constraint surfaces allowable in the formulations. Two examples are given to illustrate the formulation and the methodology
Keywords :
force control; position control; robots; compliant control; constrained Hamiltonian systems; constrained robot manipulators; force; force control; motion; nonlinear control; position control; Control systems; End effectors; Force control; Manipulator dynamics; Nonlinear dynamical systems; Nonlinear equations; Process control; Robot control; Torque control; Tracking;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194288
