Title :
Hybrid control for a class of constrained mechanical systems
Author_Institution :
Inst. of Inf. Sci., Acad. Sinica, Taipei, Taiwan
Abstract :
The author studies the hybrid tracking problem for a class of mechanical systems, described by Euler-Lagrange equations of motion, subject to a set of holonomic and/or nonholonomic constraints in a unified fashion. Based on a QR-like decomposition of the constraint Jacobian, it is shown that the constraint-force free and reduced constrained motions of constrained mechanical systems can be naturally separated. A new hybrid control is proposed for the decomposed motions to achieve simultaneous, independent position and force tracking
Keywords :
control system analysis; force control; position control; robots; Euler-Lagrange equations; QR-like decomposition; constrained mechanical systems; constraint Jacobian; force control; holonomic constraints; hybrid control; nonholonomic constraints; position control; robotics; tracking problem; Control systems; Equations; Force control; Information science; Jacobian matrices; Mechanical systems; Motion control; Null space; Robot kinematics; Tracking;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261483
