Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
Global regulation of robots using only position measurements
Systems & Control Letters
A passivity-based approach to force regulation and motion control of robot manipulators
Automatica (Journal of IFAC)
Control of constrained manipulators with flexible joints
Dynamics and Control
Force position control for a robot finger with a soft tip and kinematic uncertainties
Robotics and Autonomous Systems
Robot contact tasks in the presence of control target distortions
Robotics and Autonomous Systems
| Hi-index | 0.00 |
In this paper, the global stability problem for constrained robot motions in the presence of constraint uncertainties is investigated. We focus on the uncertainties in the constraint functions and their effects on the global stability. PD type controllers are used and conditions for global stability are developed using Lyapunov's direct approach. In the presence of the constraint uncertainties under investigation, the desired position and constraint force can be guaranteed with global asymptotic convergence. The developed conditions for feedback gain selections clearly show the effects of the constraint uncertainties. For the case when the velocity measurements are not available, conditions for global stability regulation are also established and the robot controller uses only the measurements of the position angles. Finally, we consider the case where the robot joints are flexible and global stability conditions are given.