On the asymptotic stability of the hybrid position/force control scheme for robot manipulators

Yabuta, Tetsuro; Chona, A.J.; Beni, G.

doi:10.1109/robot.1988.12071

Cited by 19 publications

(7 citation statements)

References 15 publications

(2 reference statements)

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“…For the case of contact, the characteristic polynomial is a fourth-order equation, and the Routh criterion can be used to check the stability. Yabuta, Chona, and Beni (1988) also presented a stability analysis for the stiffness controller during contact using a Lyapunov method. Although their title mentions the term &dquo;hybrid control,&dquo; according to the definitions that we have used in this paper, their algorithm is identical to the stiffness controller described in this section.…”

Section: Routh Criterion Analysesmentioning

confidence: 99%

The Role of Dynamic Models in Cartesian Force Control of Manipulators

Hollerbach

1989

The International Journal of Robotics Research

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Dynamic models are as important in Cartesian force control as they are in position control. A variety of Cartesian force control schemes are examined, comprising some that do incorporate a dynamic model into the control loop (resolved acceleration force control, operational space method, and impedance control) and some that do not (hybrid control and stiffness control). Stability analyses and experimental implementations are presented that demonstrate not only that using a dynamic model leads to more accurate control, but also that not using a model can in certain cases make force control unstable. Experiments on the MIT Serial Link Direct Drive Arm show that resolved acceleration force control is stable and accurate in producing force steps and sinusoidal force responses and in complying to sinusoidal position disturbances.

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Section: Routh Criterion Analysesmentioning

confidence: 99%

The Role of Dynamic Models in Cartesian Force Control of Manipulators

Hollerbach

1989

The International Journal of Robotics Research

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“…In order to evaluate the relationship between the dynamics of the constrained robotic system and its energy, we use Lagrangeʹs equation described by [33]:…”

Section: Proofmentioning

confidence: 99%

Impedance Controller Tuned by Particle Swarm Optimization for Robotic Arms

Mehdi¹,

Boubaker²

2011

International Journal of Advanced Robotic Systems

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This paper presents an efficient and fast method for fine tuning the controller parameters of robot manipulators in constrained motion. The stability of the robotic system is proved using a Lyapunov-based impedance approach whereas the optimal design of the controller parameters are tuned, in offline, by a Particle Swarm Optimization (PSO) algorithm. For designing the PSO method, different index performances are considered in both joint and Cartesian spaces. A 3DOF manipulator constrained to a circular trajectory is finally used to validate the performances of the proposed approach. The simulation results show the stability and the performances of the proposed approach.

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“…Recall that the Lagrange equation of a constrained robotic system is described by (Yabuta et al, 1988):…”

Section: Relationship Between the Dynamics Of The Constrained Roboticmentioning

confidence: 99%

“…Further analyses are done on the basis of nonlinear models and generally use Lyapunov approaches. However they generally require very hard developments (Chiaverini et al, 1994) or need decoupling between the position and force control (Yabuta et al, 1988).…”

Section: Introductionmentioning

confidence: 99%

Rehabilitation of a Human Arm Supported by a Robotic Manipulator: A Position/Force Cooperative Control

Mehdi¹,

Boubaker²

2010

Journal of Computer Science

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Problem statement: The assistance of person with limited ability of arm movement is necessary for rehabilitation reasons. This aid is required not only to cover the human performances of the arm in motion and force but also to have a strictly stable dynamics. In this study, we proposed a cooperative system between a disabled arm and a robotic manipulator to reach such objectives. Desired positions and contact forces were imposed by the disabled human whereas appropriate torques were applied by the manipulator to follow human intension. Approach: Various control strategies were proposed during recent years to solve position/force control problem. The impedance control concept was used in this study. A relationship between the dynamics of the robot and its energy was developed to derive stability conditions of the robotic system at the constrained motion phase using a suitable Lyapunov approach. Results: New sufficient conditions of asymptotic stability were developed. To prove the efficiency of the proposed approach, a prototype of a human arm coupled to cooperative constrained robotic manipulator was used. The simulation results showed the stability and the performances of the proposed approach. Conclusion: Results showed the possibility of their use in a real context of rehabilitation of injured and disabled people

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On the asymptotic stability of the hybrid position/force control scheme for robot manipulators

Cited by 19 publications

References 15 publications

The Role of Dynamic Models in Cartesian Force Control of Manipulators

The Role of Dynamic Models in Cartesian Force Control of Manipulators

Impedance Controller Tuned by Particle Swarm Optimization for Robotic Arms

Rehabilitation of a Human Arm Supported by a Robotic Manipulator: A Position/Force Cooperative Control

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