New Robust Tracking Control for Safe Constrained Robots under Unknown Impedance Environment
نویسندگان
چکیده
In this paper, new sufficient conditions for safe motion/force tracking control of robotic systems under unknown environment are proposed. The asymptotic stability conditions are proved using a Lyapunov impedance approach and the relationship between the error dynamics of the robotic system and its energy. A 3DOF manipulator constrained to a circular trajectory is finally used to validate the stability, the robustness and the safety of the proposed approach.
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تاریخ انتشار 2012