Global asymptotic stability of hybrid position/force control applied to compliant unilateral constraints (Q1301106)
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| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Global asymptotic stability of hybrid position/force control applied to compliant unilateral constraints |
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Global asymptotic stability of hybrid position/force control applied to compliant unilateral constraints (English)
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15 September 1999
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The author studies the stability of a hybrid control system that allows to regulate both the position and the forces of constraint of a multi-degree-of-freedom robot in compliant motion. Its contact is assumed to be unilateral, i.e., motion away from the constraint may cause loss of contact. The author succeeds in generalizing a previous result of his on 1-DOF robots to multi-DOF. He presents a continuous hybrid control, based only on the constraint's geomery, that is asymptotically stable.
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unilateral contact
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position and force regulation
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constraint
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stability
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hybrid control
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robot in compliant motion
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