Hybrid control: A constrained motion perspective

DOI10.1002/ROB.4620080202MaRDI QIDQ3204115zbMATH OpenOpenAlexFDO

Authors James K. Mills

Publication date 1991

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620080202

zbMATH Keywords

constrained dynamic formulationcontrained motion controlControl of manipulatorsend-effectorHybrid control

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Independent hybrid force/motion control of constrained six-degrees-of-freedom manipulators
• Hybrid Constraint Space Dynamics and Control for Robot Manipulators
• Robust hybrid control of constrained robot manipulators via decomposed equations
• Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion
• Adaptive and nonadaptive hybrid controllers for rheonomically constrained manipulators

Cites work

• A Heuristic Study of Relegation of Control in Constrained Robotic Systems
• Biped side step in the frontal plane
• Dynamics of manipulation robots. Theory and application
• Feedback and pole placement in descriptor variable Systems†
• Feedback stabilization and tracking of constrained robots
• Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane

Cited in

(14)

• Robust hybrid control of constrained robot manipulators via decomposed equations
• Adaptive and nonadaptive hybrid controllers for rheonomically constrained manipulators
• Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
• Independent hybrid force/motion control of constrained six-degrees-of-freedom manipulators
• A mixed logic dynamical modeling formulation and optimal control of intelligent robots
• scientific article; zbMATH DE number 1004896 (Why is no real title available?)
• Hybrid-damped resolved-acceleration control for manipulators
• Control of manipulators in a constrained workspace by means of linked invariant sets
• scientific article; zbMATH DE number 1910319 (Why is no real title available?)
• Joint‐space orthogonalization and passivity for physical interpretations of dextrous robot motions under geometric constraints
• Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion
• Hybrid Systems: Computation and Control
• Hybrid Constraint Space Dynamics and Control for Robot Manipulators
• Multi-input second-order sliding-mode hybrid control of constrained manipulators

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