Position control and explicit force control of a constrained manipulator

M. Minami; T. Asakura; L. X. Dong; Y. M. Huang

doi:10.1109/icips.1997.669201

Position control and explicit force control of a constrained manipulator

M. Minami, T. Asakura, L. X. Dong, Y. M. Huang

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

1 Citation (Scopus)

Abstract

The kinematically constrained dynamic system of a robotic manipulator is modeled by including constrained forces in the dynamic equations in this paper, and the constrained forces are expressed as an obvious function of the state and inputs of the system. A controller without involving any force sensor is therefore constructed by taking the advantage of the redundancy between the input and constrained forces. Simulations have been done with a 2-link SCARA manipulator, and the results show the feasibility of the modeling method and the controller.

Original language	English
Title of host publication	1997 IEEE International Conference on Intelligent Processing Systems
Publisher	IEEE
Pages	1268-1271
Volume	2
ISBN (Print)	0-7803-4253-4
DOIs	https://doi.org/10.1109/icips.1997.669201
Publication status	Published - Oct 1997
Externally published	Yes
Event	1997 IEEE International Conference on Intelligent Processing Systems - Central Garden Hotel, Beijing, China Duration: 28 Oct 1997 → 31 Oct 1997

Conference

Conference	1997 IEEE International Conference on Intelligent Processing Systems
Place	China
City	Beijing
Period	28/10/97 → 31/10/97

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@inproceedings{e72c2591a033420c8655558268c773e5,

title = "Position control and explicit force control of a constrained manipulator",

abstract = "The kinematically constrained dynamic system of a robotic manipulator is modeled by including constrained forces in the dynamic equations in this paper, and the constrained forces are expressed as an obvious function of the state and inputs of the system. A controller without involving any force sensor is therefore constructed by taking the advantage of the redundancy between the input and constrained forces. Simulations have been done with a 2-link SCARA manipulator, and the results show the feasibility of the modeling method and the controller.",

author = "M. Minami and T. Asakura and Dong, {L. X.} and Huang, {Y. M.}",

year = "1997",

month = oct,

doi = "10.1109/icips.1997.669201",

language = "English",

isbn = "0-7803-4253-4 ",

volume = "2",

pages = "1268--1271",

booktitle = "1997 IEEE International Conference on Intelligent Processing Systems",

publisher = "IEEE",

address = "United States",

note = "1997 IEEE International Conference on Intelligent Processing Systems ; Conference date: 28-10-1997 Through 31-10-1997",

}

Position control and explicit force control of a constrained manipulator. / Minami, M.; Asakura, T.; Dong, L. X. et al.
1997 IEEE International Conference on Intelligent Processing Systems. Vol. 2 IEEE, 1997. p. 1268-1271.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Position control and explicit force control of a constrained manipulator

AU - Minami, M.

AU - Asakura, T.

AU - Dong, L. X.

AU - Huang, Y. M.

PY - 1997/10

Y1 - 1997/10

N2 - The kinematically constrained dynamic system of a robotic manipulator is modeled by including constrained forces in the dynamic equations in this paper, and the constrained forces are expressed as an obvious function of the state and inputs of the system. A controller without involving any force sensor is therefore constructed by taking the advantage of the redundancy between the input and constrained forces. Simulations have been done with a 2-link SCARA manipulator, and the results show the feasibility of the modeling method and the controller.

AB - The kinematically constrained dynamic system of a robotic manipulator is modeled by including constrained forces in the dynamic equations in this paper, and the constrained forces are expressed as an obvious function of the state and inputs of the system. A controller without involving any force sensor is therefore constructed by taking the advantage of the redundancy between the input and constrained forces. Simulations have been done with a 2-link SCARA manipulator, and the results show the feasibility of the modeling method and the controller.

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U2 - 10.1109/icips.1997.669201

DO - 10.1109/icips.1997.669201

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0-7803-4253-4

VL - 2

SP - 1268

EP - 1271

BT - 1997 IEEE International Conference on Intelligent Processing Systems

PB - IEEE

T2 - 1997 IEEE International Conference on Intelligent Processing Systems

Y2 - 28 October 1997 through 31 October 1997

ER -

Position control and explicit force control of a constrained manipulator

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