Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties |
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| Authors: | CC Cheah [Author Vitae] S Kawamura [Author Vitae] [Author Vitae] |
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| Affiliation: | a School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, Singapore 639798, Singapore
b Department of Robotics, Ritsumeikan University, 1916, Nojicho, Kusatsu, Shiga 525, Japan |
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| Abstract: | Most research so far on hybrid position and force control laws of robotic manipulator has assumed that knowledge of kinematics is known exactly. In the presence of modeling errors, it is unknown whether the stability of the constrained robot system can still be ensured. In this paper, stability and setpoint control problems of constrained robot with kinematics and dynamics uncertainties are formulated and solved. We shall show that the manipulator end-effector's motion is asymptotically stable even in the presence of such uncertainties. |
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| Keywords: | Hybrid position and force control Stability Kinematic constraint uncertainty |
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