DocumentCode
316275
Title
A hybrid system approach to contact stability and force control in robotic manipulators
Author
Cavusoglu, M. Cenk ; Yan, Joseph ; Sastry, S. Shankar
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
fYear
1997
fDate
16-18 Jul 1997
Firstpage
143
Lastpage
148
Abstract
Force control and manipulation involving contacts are essentially hybrid control problems because of the inherent switching present in the dynamic behavior when the manipulator comes in contact with and leaves a surface. In this study, the game theoretic approach of hybrid control design is used to synthesize the least restrictive control law for a robotic manipulator to establish and maintain contact with a surface while keeping interaction forces within specified bounds
Keywords
control system synthesis; force control; game theory; manipulator dynamics; mechanical contact; stability; contact stability; control synthesize; dynamics; force control; game theory; hybrid system; robotic manipulators; Contacts; Control design; Force control; Game theory; Impedance; Manipulator dynamics; Milling machines; Motion control; Robots; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 1997. Proceedings of the 1997 IEEE International Symposium on
Conference_Location
Istanbul
ISSN
2158-9860
Print_ISBN
0-7803-4116-3
Type
conf
DOI
10.1109/ISIC.1997.626435
Filename
626435
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