Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties. (Q1400320): Difference between revisions
From MaRDI portal
ReferenceBot (talk | contribs) Changed an Item |
Set OpenAlex properties. |
||
| Property / full work available at URL | |||
| Property / full work available at URL: https://doi.org/10.1016/s0005-1098(03)00002-5 / rank | |||
Normal rank | |||
| Property / OpenAlex ID | |||
| Property / OpenAlex ID: W1987100249 / rank | |||
Normal rank | |||
Latest revision as of 10:32, 30 July 2024
scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties. |
scientific article |
Statements
Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties. (English)
0 references
13 August 2003
0 references
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.
0 references
automated systems
0 references
robots
0 references
robot dynamics and control
0 references
