Position control and explicit force control of a constrained manipulator

M. Minami; T. Asakura; L. X. Dong; Y. M. Huang

Position control and explicit force control of a constrained manipulator

M. Minami, T. Asakura, L. X. Dong, Y. M. Huang

Research output: Contribution to conference › Paper

Abstract

The kinematically constrained dynamic system of a robotic manipulator is modeled by including constrained forces in the dynamic equations in this paper, and the constrained forces are expressed as an obvious function of the state and inputs of the system. A controller without involving any force sensor is therefore constructed by taking the advantage of the redundancy between the input and constrained forces. Simulations have been done with a 2-link SCARA manipulator, and the results show the feasibility of the modeling method and the controller.

Original language	English
Pages	1268-1271
Number of pages	4
Publication status	Published - 1998
Externally published	Yes
Event	Proceedings of the 1997 IEEE International Conference on Intelligent Processing Systems, ICIPS'97. Part 1 (of 2) - Beijing, China Duration: Oct 28 1997 → Oct 31 1997

Other

Other	Proceedings of the 1997 IEEE International Conference on Intelligent Processing Systems, ICIPS'97. Part 1 (of 2)
City	Beijing, China
Period	10/28/97 → 10/31/97

ASJC Scopus subject areas

Computer Science(all)
Engineering(all)

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title = "Position control and explicit force control of a constrained manipulator",

abstract = "The kinematically constrained dynamic system of a robotic manipulator is modeled by including constrained forces in the dynamic equations in this paper, and the constrained forces are expressed as an obvious function of the state and inputs of the system. A controller without involving any force sensor is therefore constructed by taking the advantage of the redundancy between the input and constrained forces. Simulations have been done with a 2-link SCARA manipulator, and the results show the feasibility of the modeling method and the controller.",

author = "M. Minami and T. Asakura and Dong, {L. X.} and Huang, {Y. M.}",

year = "1998",

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note = "Proceedings of the 1997 IEEE International Conference on Intelligent Processing Systems, ICIPS'97. Part 1 (of 2) ; Conference date: 28-10-1997 Through 31-10-1997",

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AU - Asakura, T.

AU - Dong, L. X.

AU - Huang, Y. M.

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AB - The kinematically constrained dynamic system of a robotic manipulator is modeled by including constrained forces in the dynamic equations in this paper, and the constrained forces are expressed as an obvious function of the state and inputs of the system. A controller without involving any force sensor is therefore constructed by taking the advantage of the redundancy between the input and constrained forces. Simulations have been done with a 2-link SCARA manipulator, and the results show the feasibility of the modeling method and the controller.

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