Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties. (Q1400320)
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| Language | Label | Description | Also known as |
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| English | Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties. |
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Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties. (English)
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13 August 2003
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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.
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automated systems
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robots
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robot dynamics and control
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