Abstract
A simple robust scheme of parallel force/position control is proposed in this paper to deal with two problems for non-planar constraint surface and nonlinear mechanical feature of environment: i) uncertainties in environment that are usually not available or difficult to be determined in most practical situations; ii) stability problem or/and integrator windup due to the integration of force error in the force dominance rule in parallel force/position control. It shows that this robust scheme is a good alternative for anti-windup. In the presence of environment uncertainties, global asymptotic stability of the resulting closed-loop system is guaranteed; it also shows robustness of the proposed controller to uncertain environment with complex characteristics. Finally, numerical simulation verifies results via contact task of a two rigid-links robot manipulator.
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Chunqing HUANG received his B.E. in Mechanical Engineering from Chang-chun Institute of Optics & Fine Mechanics in 1995, M.E. in Mechanical Engineering from Huaqiao University in 1998, and Dr.Eng. in Automation from Shijiazhuang College of Mechanical Engineering in 2002. He worked as a postdoctoral fellow in Shanghai Jiaotong University, Pohang University of Science and Technology and Korea Advance Institute of Science and Technology (KAIST). He is with Xiamen University since 2006. His research interests include robust control, optimal control and adaptive control of robots.
Lisang LIU received her B.E. in Automation from Xiamen University in 2005. She is with Control Theory and Engineering Institute at Xiamen University since 2005. Her research interests include robust control and adaptive control.
Xinggui WANG received his B.E. in Mechanical Engineering from Shijiazhuang College of Mechanical Engineering in 1983, M.S. and Ph.D. in General Mechanics from Harbin Institute of Technology in 1991 and 1994, respectively. He is a professor of Shijiazhuang College of Mechanical Engineering. His research interests include dynamics of Multibody, dynamics and control of robots.
Songjiao SHI received B.E. from Dept. of electric power engineering of Shanghai Jiaotong University in 1956. He is a professor of Shanghai Jiaotong University. His research interests include nonlinear robust control and adaptive control.
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Huang, C., Liu, L., Wang, X. et al. Robust scheme of global parallel force/position regulators for robot manipulators under environment uncertainty. J. Control Theory Appl. 5, 271–277 (2007). https://doi.org/10.1007/s11768-006-6084-1
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DOI: https://doi.org/10.1007/s11768-006-6084-1