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 |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Intelligent Processing Systems, ICIPS |
| Publisher | IEEE |
| Pages | 1268-1271 |
| Number of pages | 4 |
| Volume | 2 |
| 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 |
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ASJC Scopus subject areas
- Computer Science(all)
- Engineering(all)
Cite this
Position control and explicit force control of a constrained manipulator. / Minami, Mamoru; Asakura, T.; Dong, L. X.; Huang, Y. M.
Proceedings of the IEEE International Conference on Intelligent Processing Systems, ICIPS. Vol. 2 IEEE, 1998. p. 1268-1271.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Position control and explicit force control of a constrained manipulator
AU - Minami, Mamoru
AU - Asakura, T.
AU - Dong, L. X.
AU - Huang, Y. M.
PY - 1998
Y1 - 1998
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=0031677925&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0031677925&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0031677925
VL - 2
SP - 1268
EP - 1271
BT - Proceedings of the IEEE International Conference on Intelligent Processing Systems, ICIPS
PB - IEEE
ER -