Adaptive and nonadaptive hybrid controllers for rheonomically constrained manipulators (Q1295146)

Denote the joint angles of a manipulator with \(N\) revolute joints by an \(N\)-vector \(q.\) When the end-effector of the manipulator is constrained on \(M\)-dimensional moving surfaces, the joint angle \(q\) must satisfy: \(\varphi(q, t) = 0\quad (1),\) where \(\varphi(q, t)\) is an \(M\)-vector function in which time \(t\) exists explicitly. Such constraints are said rheonomic. Assume that \(M < N.\) By differentiating the equation (1), one obtains \(J_\varphi(q, t)\dot q -\dot p(q, t) = 0,\) where \(J_\varphi(q, t)\) \((=\frac{\partial\varphi(q, t)}{\partial q})\) is an \(M\times N\) Jacobian matrix, and \(\dot p(q,t)\overset\triangle= -\frac{\partial}{\partial t}\varphi(q,t).\) An \(M\)-vector \(\dot p(q, t),\) called varying velocity of the constraints, depends on the change rates of the constraints. Under the constraints, the manipulator complies the following dynamics: (2) \(H(q)\ddot q + C(q,\dot q)\dot q + G(q) = \tau + J^T_\varphi(q, t)f\), where \(H(q)\) denotes the symmetric and positive definite inertial matrix, and \(C(q,\dot q)\dot q\) is the nonlinear force. Suppose that an exact expression of the constraints \(\varphi(q, t)\) is given, and a desired trajectory \(\{q_d,\dot q_d,\ddot q_d\}\) satisfying the motion constraints and a desired force \(f_d\) are specified. This paper deals with the problem of designing a proper joint torque \(\tau\) such that the real trajectory \(\{q_d,\dot q_d,\ddot q_d\}\) and force \(f\) governed by equation (2) follow the desired values as precisely as possible, respectively. A design method of hybrid controllers is proposed based on a modified joint-space orthogonalization scheme.