NONLINEAR BASIC STABILITY CONCEPT OF THE HYBRID POSITION FORCE CONTROL SCHEME FOR ROBOT MANIPULATORS

被引：16

作者：

YABUTA, T

机构：

[1] NTT Field Telecommunication Systems R&D Center, Tokai

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1992年 / 8卷 / 05期

关键词：

D O I：

10.1109/70.163791

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

There has been considerable research on the stability of the force and hybrid control of robot manipulators using a linearized model. However, since a manipulator dynamics system with a hybrid control algorithm becomes highly nonlinear, hybrid control stability must be evaluated in terms of a nonlinear dynamic system. This paper presents nonlinear hybrid control stability analyses using Lyapunov's direct method. These nonlinear analyses show the fundamental stability conditions and the instability factors that adversely affect the stability condition.

引用

页码：663 / 670

页数：8

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