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 publicationProceedings of the SICE Annual Conference
Pages671-676
Number of pages6
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Other

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

Fingerprint

Manipulators
Lyapunov methods
Torque
Robots
Compensation and Redress

Keywords

  • Constraint-combined
  • Grinding robot
  • Lyapunov Stability

ASJC Scopus subject areas

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

Cite this

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

Constraint-combined force/position hybrid control method with Lyapunov stability. / Yu, Fujia; Minami, Mamoru; Maeba, Tomohide; Yanou, Akira.

Proceedings of the SICE Annual Conference. 2011. p. 671-676 6060749.

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

Yu, F, Minami, M, Maeba, T & Yanou, A 2011, Constraint-combined force/position hybrid control method with Lyapunov stability. in Proceedings of the SICE Annual Conference., 6060749, pp. 671-676, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 9/13/11.
Yu F, Minami M, Maeba T, Yanou A. Constraint-combined force/position hybrid control method with Lyapunov stability. In Proceedings of the SICE Annual Conference. 2011. p. 671-676. 6060749
Yu, Fujia ; Minami, Mamoru ; Maeba, Tomohide ; Yanou, Akira. / Constraint-combined force/position hybrid control method with Lyapunov stability. Proceedings of the SICE Annual Conference. 2011. pp. 671-676
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