Title :
Stable hybrid position/force control for redundant manipulators
Author :
Li, Luya ; Gruver, William A.
Author_Institution :
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
Hybrid position/force control is not always stable by adjusting the control parameters. There may be unstable regions if position and force control are exerted simultaneously because of an inappropriate kinematic coordinate transformation in the feedback path. To realize hybrid control for redundant manipulators, we analyze system stability and develop an improved hybrid control scheme that ensures kinematically stable operation
Keywords :
compliance control; force control; manipulator dynamics; position control; stability; kinematic coordinate transformation; kinematically stable operation; redundant manipulators; stable hybrid position/force control; system stability; unstable regions; Control systems; Error correction; Force control; Force feedback; Intelligent robots; Jacobian matrices; Manipulator dynamics; Robot kinematics; Stability; Velocity control;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.633114
