TY - GEN
T1 - Lyapunov-stable position/force control based on dual nature in constraint motion
AU - Minami, Mamoru
AU - Yu, Fujia
AU - Yanou, Akira
PY - 2013/12/1
Y1 - 2013/12/1
N2 - In the model of the constrained dynamic system of a rigid robot contacting with rigid environment, constrained forces can be expressed as an algebraic function of states (instantaneous process) and a redundancy existing in constraint dynamics (constraint redundancy). Using these results, a force and position control law is proposed by taking the advantages of the redundancy of input generalized forces to the constrained forces and instantaneous process without involving any force sensor, using dual nature of constraint motion stated in this document. Then proof confirming by Lyapunov method that the exerting force equals instantaneously and constantly to desired one and that the motion of robot's hand in a movable space converges to desired hand's position. The effectiveness has been confirmed by a 2-link robot in simulations.
AB - In the model of the constrained dynamic system of a rigid robot contacting with rigid environment, constrained forces can be expressed as an algebraic function of states (instantaneous process) and a redundancy existing in constraint dynamics (constraint redundancy). Using these results, a force and position control law is proposed by taking the advantages of the redundancy of input generalized forces to the constrained forces and instantaneous process without involving any force sensor, using dual nature of constraint motion stated in this document. Then proof confirming by Lyapunov method that the exerting force equals instantaneously and constantly to desired one and that the motion of robot's hand in a movable space converges to desired hand's position. The effectiveness has been confirmed by a 2-link robot in simulations.
UR - http://www.scopus.com/inward/record.url?scp=84893785363&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2013.6696766
DO - 10.1109/IROS.2013.6696766
M3 - Conference contribution
AN - SCOPUS:84893785363
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2894
EP - 2901
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -