Position control and explicit force control of a constrained manipulator

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

Research output: Contribution to conferencePaper

1 Citation (Scopus)

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 languageEnglish
Pages1268-1271
Number of pages4
Publication statusPublished - 1998
Externally publishedYes
EventProceedings of the 1997 IEEE International Conference on Intelligent Processing Systems, ICIPS'97. Part 1 (of 2) - Beijing, China
Duration: Oct 28 1997Oct 31 1997

Other

OtherProceedings of the 1997 IEEE International Conference on Intelligent Processing Systems, ICIPS'97. Part 1 (of 2)
CityBeijing, China
Period10/28/9710/31/97

ASJC Scopus subject areas

  • Computer Science(all)
  • Engineering(all)

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