Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Hybrid dynamic control approach for constrained robot motion control with stiffness adaptability

제한 동작 로봇의 강성도 적응성을 갖는 하이브리드 동적 제어에 관한 연구

  • Lim, Mee-Seub (Dept. of Electronic Engineering, Hanyang University) ;
  • Lim, Joon-Hong (Dept. of Electronic Engineering, Hanyang University)
  • 임미섭 (한양대학교 전자공학과) ;
  • 임준홍 (한양대학교 전자공학과)
  • Published : 1999.08.01
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Abstract

In this paper, we propose a new motion and force control methodology for constrained robots as an approach of hybrid discrete-continuous dynamical system. The hybrid dynamic system modeling of robotic manipulation tasks with constraints is presented, and the hybrid system control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference stiffness of robot manipulator is generated by the hybrid automata as a discrete state system and the control behavior of constrained system which has poor modeling information and time-varying constraint function is improved by the constrained robots as a continuous state system. The performance of the proposed constrained motion control system is successfully evaluated via experimental studies to the constraint tasks.

Keywords

References

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