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Modelling and Control of Constrained Robots

  • K. A. Tahboub
  • P. C. Müller
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)

Abstract

This paper deals with modeling and control of constrained industrial robots. The considered constraints arise during the contact of a robot with an external object in its environment. A novel method that is based on task-space formulations and on the modes-of-motion approach is developed to represent constraints and constrained tasks. It is shown that this methodology can handle constrained motions generally without having any of the substantial limitations of other proposed methods. For control purposes, a novel method is developed. The key feature of this method is to transform nonlinear effects (disturbances) acting on the system to where they can be estimated and statically compensated. For these purposes, only a rough model knowledge and only the position and force measurements are required. Simulation results show the superiority of the proposed method.

Keywords

Contact Force Surface Force Constraint Force Normal Reaction Force Task Frame 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    Davison, E. J. (1976). The Robust Control of a Servomechanism Problem for Linear Time-Invariant Multivariable Systems. IEEE Transactions on Automatic Control, Vol. AC-21, No. 1, pp. 25–34.CrossRefMathSciNetGoogle Scholar
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    McClamroch, N. H., and H. P. Huang (1985). Dynamics of a Closed Chain Manipulator. American Control Conference, pp. 50–54.Google Scholar
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    Müller, P. C. (1993). Schätzung und Kompensation von Nichtlinearitäten. VDI Bericht Nr. 1026, VDI-Verlag, Düsseldorf.Google Scholar
  4. [4]
    Tahboub, K. A. (1993). Modeling and Control of Constrained Robots. Dissertation, VDI-Fortschrittsberichte, Reihe 8, Nr. 361, VDI-Verlag, Düsseldorf.Google Scholar
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    Tahboub, K. A., and P. C. Müller (1993). A Novel Disturbance-Rejection Control Method Applied to Flexible-Joint Robots. Submitted for Publication in the IEEE Transactions on Robotics and Automation.Google Scholar

Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • K. A. Tahboub
    • 1
  • P. C. Müller
    • 2
  1. 1.Hebron Technical Engineering CollegeHebronPalestine
  2. 2.University of WuppertalWuppertalGermany

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