Constraint-combined force/position hybrid control method with Lyapunov stability

Fujia Yu, Mamoru Minami, Tomohide Maeba, Akira Yanou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Based on the analysis of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. In this paper, we design a new compensation of the system based on the constrained system and prove its convergence in a new way with Lyapunov method, in this way we focus on the motion of the manipulator because the output force is a function of the input torque directly which is not affected by time.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages671-676
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - Jan 1 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period9/13/119/18/11

Keywords

  • Constraint-combined
  • Grinding robot
  • Lyapunov Stability

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Yu, F., Minami, M., Maeba, T., & Yanou, A. (2011). Constraint-combined force/position hybrid control method with Lyapunov stability. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 671-676). [6060749] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).