DocumentCode :
3177118
Title :
Indefinite inner product-based decomposition and application to control of force and position of robot manipulators
Author :
Goldenberg, A.A.
Author_Institution :
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
fYear :
1992
fDate :
12-14 May 1992
Firstpage :
1519
Abstract :
A general algebraic framework for control analysis of constrained and compliant motion is presented. The author reviews the theory of screws, operators, and indefinite inner products to establish a mathematical formulation for a task space decomposition suitable for synthesis of constrained and compliant motion. Four components of the space of screws are identified and their mathematical properties are presented. The proposed decomposition generalizes the original hybrid force and position control. Applications to contact kinematics and system dynamics are given for illustration. The main contribution is to shed light on the issue of the hybrid control assumption of presumed orthogonality between constraint and freedom subspaces
Keywords :
algebra; compliance control; control system analysis; dynamics; force control; kinematics; manipulators; position control; compliance control; compliant motion; constrained motion; constraint subspaces; control analysis; force control; freedom subspaces; general algebraic framework; hybrid control; indefinite inner product-based decomposition; position control; robot manipulators; task space decomposition; Constraint theory; Control system synthesis; Fasteners; Force control; Kinematics; Lighting control; Motion analysis; Motion control; Position control; Subspace constraints;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
Type :
conf
DOI :
10.1109/ROBOT.1992.220036
Filename :
220036
Link To Document :
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