Title :
Control of a simple mechanism subject to unilateral constraints
Author :
Galeani, S. ; Menini, L. ; Tornambè, A.
Author_Institution :
Dip. di Inf., Univ. di Roma Tor Vergata, Rome, Italy
Abstract :
This paper studies statically admissible configurations for a mechanism standing on a horizontal plane (under the action of gravity) subject to mere inequality constraints, which do not inhibit its detachment from the plane and, possibly, its overturn. For a simple case, a strategy to design an admissible control law that drives the mechanism from one admissible position to another one is proposed.
Keywords :
linear quadratic control; manipulators; position control; admissible control design; admissible position; horizontal plane; inequality constraints; linear quadratic control; robot manipulators; statically admissible configurations; three link mechanism; unilateral constraints; End effectors; Equations; Feedback control; Force control; Friction; Gravity; Mechanical systems; Position control; Torque control;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1271654
