Modelling of constrained robot system with constraint uncertainties

Abstract

In this paper, a model for the constrained robot dynamics, incorporating constraint uncertainties is developed. The rigid constraining surfaces are represented by a set of algebraic functions. The uncertainties in the constraint functions reflect the inaccuracy in the descriptions of the constraining surfaces. The constraint uncertainties influence the robot dynamics, giving rise to the need to take into consideration these uncertainties in controller designs. ©2000 John Wiley & Sons, Inc.