Feedback stabilization and tracking of constrained robots

McClamroch, N. Harris; Wang, D.

doi:10.1109/9.1220

Cited by 678 publications

(292 citation statements)

References 18 publications

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“…In recent years, force control has been intensively studied to design force-based control methods such as operational space method [38], dynamic hybrid position-force control [39], compliant motion control [40,41], object impedance control [42], motor dynamics-based hybrid control [43] and adaptive force control [44][45][46]. However, conventional force and position based control methods suffer from kinematic and dynamic stability issues as investigated in [47 48], friction and stiction problems as identified in [49], asymptotic stability issues in impedance and Cartesian compliance control [50], dynamic problems [51] and the bandwidth limitation investigation [52].…”

Section: Control Architecturementioning

confidence: 99%

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Asif

Iqbal

2011

International Journal of Advanced Robotic Systems

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This paper aims to solve a major drawback of walking robots i.e. their inability to react to environmental disturbances while navigating in natural rough terrains. This problem is reduced here by suggesting the use of a hybrid force-position control based trajectory generation with the impact dynamics into consideration that compensates for the stability variations, thus helping the robot react stably in the face of environmental disturbances. As a consequence, the proposed impact-based hybrid control helps the robot achieve better and stable motion planning than conventional position-based control algorithms. Dynamic simulations and real world outdoor experiments performed on a six legged hexapod robot show a relevant improvement in the robot locomotion.

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Section: Control Architecturementioning

confidence: 99%

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Asif

Iqbal

2011

International Journal of Advanced Robotic Systems

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“…Therefore, cooperation control strategies for a multiple robot system should concentrate on the motion constraints analysis. References [10] and [11] support such opinions. In their work, a formulation of system model based on nonlinear differential algebraic system theory is presented that integrates the kinematic constraints as the algebraic part of system model.…”

Section: Introductionmentioning

confidence: 91%

Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

Gan

Duan

2012

International Journal of Advanced Robotic Systems

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A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper.The path planning method is based on motion constraints between the end-effectors of cooperative robots.Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous cooperation and combined synchronous cooperation. Based on this classification, position /orientation constraints and joint velocity constraints are explored in-depth here.In order to validate the path planning method and the theoretical developments in motion constraints analysis, representative experiments based on two industrial robots, Motoman VA1400 and HP20, are provided at the end of the paper. The experimental results have proved both the effectiveness of the path planning method and the correctness of the constraints analysis.

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“…Since U nc − F (q,q) = M (q)q e − C(q,q)s − γ 1 s, (q e ) p = 0 and s p = 0, (22) rewrites as (19) and the proof is finished. It is noteworthy that [15].…”

Section: Is the Inverse Of The De-mentioning

confidence: 99%

“…In order to overcome some difficulties that can appear in the controller definition, the dynamical equations (1) will be expressed in the generalized coordinates introduced by McClamroch & Wang [15]. We suppose that the generalized coordinates transformation holds globally in Φ, which may obviously not be the case in general.…”

Section: Controller Designmentioning

confidence: 99%

Passivity-based tracking control of multiconstraint complementarity Lagrangian systems

Morărescu

Brogliato

2008

2008 47th IEEE Conference on Decision and Control

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Abstract:In this study one considers the tracking control problem of a class of nonsmooth fully actuated Lagrangian systems subject to frictionless unilateral constraints. A passivity-based switching controller that guarantees some stability properties of the closed-loop system is designed. A particular attention is paid to transition (impacting) and detachment phases of motion. This paper extends previous works on the topic as it considers multiconstraint n-degree-of-freedom systems. Key-words:

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Feedback stabilization and tracking of constrained robots

Cited by 678 publications

References 18 publications

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

Passivity-based tracking control of multiconstraint complementarity Lagrangian systems

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