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Force/motion hybrid control of three link constrained manipulator using sliding mode
Gao S(高升)1,2; Zhang W(张伟)1,2; Kong WG(孔维国)1,2; Ren HC(任虎存)1,2; Jin BP(金博丕)1,2
Department空间自动化技术研究室
Conference Name12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Conference DateAugust 8-11, 2019
Conference PlaceShenyang, China
Source PublicationIntelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
PublisherSpringer Verlag
Publication PlaceBerlin
2019
Pages419-432
Indexed ByEI
EI Accession number20193407326371
Contribution Rank1
ISSN0302-9743
ISBN978-3-030-27528-0
KeywordThree link constrained manipulator Dynamic model Sliding mode Force/Motion hybrid control
AbstractIn order to realize the position control and contact force control of a class of planar three link constrained manipulators end-effector, a hybrid control strategy based on sliding mode controller is proposed. First, the dynamic model of the planar three link constrained manipulator is given. Then, the model order reduction design for the constrained manipulator is proposed with using the constraint condition. Furthermore, a controller based on sliding mode is presented and the tracking error of position and contact force is shown to be globally asymptotically stable via Lyapunov stability theory. Finally, numerical simulations of a planar three link constrained manipulator are performed to illustrate the effectiveness of the proposed control scheme. © Springer Nature Switzerland AG 2019.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25507
Collection空间自动化技术研究室
Corresponding AuthorZhang W(张伟)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Gao S,Zhang W,Kong WG,et al. Force/motion hybrid control of three link constrained manipulator using sliding mode[C]. Berlin:Springer Verlag,2019:419-432.
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