Contribution to the position/force control of manipulation robots interacting with dynamic environment -- a generalization
type: Item
instance of: scholarly article
title: Contribution to the position/force control of manipulation robots interacting with dynamic environment -- a generalization
zbMATH Open document ID: 0942.93030
DOI: 10.1016/S0005-1098(98)00069-7
author: Miomir Vukobratović
author: Radoslav Stojić
author: Yuri Ekalo
published in: Automatica
publication date: 2000-08-21T00:00:00Z
review text: This paper studies the position and force tracking of a robotic manipulator interacting with its environment. The dynamics of the manipulator and the environment are assumed in the following form \[ \begin{cases} H(q)\ddot q+ h(q,\dot q)= u+ J^T(q)F\\ M(q)\ddot q+ L(q,\dot q)= -S^T(q)F\end{cases}\tag{\(*\)} \] where \(q\in\mathbb{R}^n\) is a vector of generalized coordinates of the manipulator/environment, \(F\in\mathbb{R}^m\), \(m<n\), denotes a force exerted by the environment to the end-effector, the matrix \(J(q)\) of size \(m\times n\) stands for the analytic Jacobian, \(u\in\mathbb{R}^n\) is a control. It is assumed that the environment generalized coordinates are a part of the manipulator coordinates. The first equation in \((*)\) refers to the manipulator dynamics, while the second one describes the dynamics of the environment. A tracking algorithm should achieve a position tracking \((q(t)\to q_d(t))\) and a force tracking \((F(t)\to F_d(t))\) with a prescribed transient response. Three tracking algorithms have been proposed that provide tracking with a desirable transient of the force (\(m\) components) and (\(n-m\)) position components \(q^1(t)\). It has been proved that the error \(q^2(t)- q^2_d(t)\) in the remaining \(m\) position components is exponentially stable.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93D15
Mathematics Subject Classification ID: 93C10
zbMATH DE Number: 1325792
zbMATH Keywords: position and force tracking
zbMATH Keywords: robotic manipulator
zbMATH Keywords: environment
zbMATH Keywords: manipulator dynamics
zbMATH Keywords: transient
reviewed by: Krzysztof Tchoń
MaRDI profile type: Publication
full work available at URL: s0005-1098(98)00069-7
OpenAlex ID: W2077945416
description: scientific article; zbMATH DE number 1325792