Inverse Force and Motion Control of Constrained Elastic Robots

[+] Author and Article Information
Woosoon Yim

Department of Mechanical Engineering, University of Nevada, Las Vegas, NV 89154

Sahjendra N. Singh

Department of Electrical and Computer Engineering, University of Nevada, Las Vegas, NV 89154

J. Dyn. Sys., Meas., Control 117(3), 374-383 (Sep 01, 1995) (10 pages) doi:10.1115/1.2799128 History: Received September 11, 1992; Online December 03, 2007


We treat the question of position and force control of a three-axis elastic robotic system on a constraint surface based on nonlinear inversion of an input-output map and linear feedback stabilization. Unlike the rigid robots, the feedback linearizing control of end point motion gives rise to unstable zero dynamics. Instability of zero dynamics is avoided by controlling a parameterized output vector corresponding to a point close to the end point of the arm. Zero dynamics are stable or almost stable as long as the parameter in the output vector does not exceed a critical value. Using the inverse controller, the control of the force and the position of the end point is possible while the end effector moves on the constraint surface. However, this excites the elastic modes. For the final capture of the terminal state and vibration suppression, a linear stabilizer is designed. Simulation results are presented to show that in the closed-loop system trajectory and force control on the constraint surface is accomplished.

Copyright © 1995 by The American Society of Mechanical Engineers
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