Lyapunov-stable position/force control based on dual nature in constraint motion

Mamoru Minami, Fujia Yu, Akira Yanou

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

1 Citation (Scopus)

Abstract

In the model of the constrained dynamic system of a rigid robot contacting with rigid environment, constrained forces can be expressed as an algebraic function of states (instantaneous process) and a redundancy existing in constraint dynamics (constraint redundancy). Using these results, a force and position control law is proposed by taking the advantages of the redundancy of input generalized forces to the constrained forces and instantaneous process without involving any force sensor, using dual nature of constraint motion stated in this document. Then proof confirming by Lyapunov method that the exerting force equals instantaneously and constantly to desired one and that the motion of robot's hand in a movable space converges to desired hand's position. The effectiveness has been confirmed by a 2-link robot in simulations.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages2894-2901
Number of pages8
DOIs
Publication statusPublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Minami, M., Yu, F., & Yanou, A. (2013). Lyapunov-stable position/force control based on dual nature in constraint motion. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2894-2901). [6696766] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696766