Path Following Control Based on Dynamic Parametrization for Manipulator with Impact.

摘要

It is important in practice use for robots to contact an object or environment around the robot. At the moment of the contact, an impulsive force, or impact, may cause a discontinuous change of the state of the robot. Since the impact strongly depends on the configuration of the robot at the moment of the contact, the precise control of the configuration of the robot is needed. Authors have proposed a path following control method based on dynamic parametrization, that makes the robot follow the desired path efficiently. In this paper, the above method is applied to a manipulator system with impact. And it is shown that this controller with high feedback gain can stabilize the system with impact. Results of computer simulations validate this result.