Adaptive Force-Position Control for constrained Robotic Manipulators

摘要

This paper presents an adaptive force-position control in task coordinates for constrained robot manipualtors. In general, the constraints can be represented separately by the subset of generalized coordinates in task space. This controller works on a concept of orthogonalization between force and motion in the subspaces derived from constraints. The friction force is compenated adaptively. The globally asymptotic convergence for both force and motion tracking errors is guaranteed by the Lyapunov-Like Lemma. the implementation method of the controller in joint space is also given. Computer simulation results for a three-link manipulator are shown to demonstrate the effectiveness of the proposed method.