Abstract

Conditions are presented for the global asymptotic stability of the hybrid position/force control of robot manipulators, using Lyapunov's direct method. Although hybrid control schemes have been studied in depth, the stability problem has not been clarified completely. The authors deal with the stability of the hybrid control scheme in Cartesian coordinates of the work space, especially from the viewpoint of coupling between position and force control. Results show not only the global asymptotic stability conditions but also the physical interpretation or meaning of the stability conditions by citing an example of a two-degree-of-freedom manipulator. >

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.