Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
In the present paper a feedback control law for setpoint control of constrained robots with uncertain kinematics is presented. It is shown that the end-effector's motion is stable even when the kinematic and dynamics are uncertain. Sufficient conditions for the bound of the uncertainties and for the feedback gains are presented to guarantee the stability of the robot end-effector's motion on the constrained surface.
scientific article; zbMATH DE number 1963704