Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
type: Item
instance of: scholarly article
title: Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
zbMATH Open document ID: 1033.93048
DOI: 10.1016/S0005-1098(03)00002-5
published in: Automatica
publication date: 2003-08-13T00:00:00Z
review text: 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.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70E60
zbMATH DE Number: 1963704
zbMATH Keywords: automated systems
zbMATH Keywords: robots
zbMATH Keywords: robot dynamics and control
author: C. C. Cheah
author: Sadao Kawamura
author: Suguru Arimoto
reviewed by: Clementina Mladenova
MaRDI profile type: Publication
cites work: Q4894495
cites work: Q4093255
cites work: Impedance Control: An Approach to Manipulation: Part I—Theory
cites work: Q4864007
cites work: Feedback stabilization and tracking of constrained robots
full work available at URL: s0005-1098(03)00002-5
OpenAlex ID: W1987100249
description: scientific article; zbMATH DE number 1963704