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| DOI： |
| Received:May 22, 2006Revised:January 29, 2007 |
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| Robust scheme of global parallel force/position regulators for robot manipulators under environment uncertainty |
| Chunqing HUANG, Lisang LIU, Xinggui WANG, Songjiao SHI |
| (Department of Automation, Xiamen University, Xiamen Fujian 361000, China;
Department of Mechanical Engineering, Shijiazhuang College of Mechanical Engineering, Shijiazhuang Hebei 050003, China;Department of Automation, Shanghai Jiao Tong University, Shanghai 200030, China) |
| 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. |
| Key words: Robot manipulator Parallel force/position control Globally asymptotic stability Uncertain environment Anti-windup |
