Robust contorl of a mamipulator pefoming constrained motion with uncertainties in the constraint

摘要

Abstract This article deals with the control of a robot manipulator performing constrained motion in an environment where the constraint function contains uncertainties. The uncertainties are appropriately modeled, and a controller consisting two components, one for positional and velocity tracking, and the other for force regulation, is proposed. The controller contains a nonlinear term that takes the form of a polynomial in the norms of the trajectory and force errors. The coefficients of the nonlinear function are chosen in relation to the bounds on the dynamic parameters of the robot system and an estimate of the bound on the uncertainty in the constraint function. Simulation results show that the modeling is appropriate and the controller is robust against parameter uncertainties © 1995 John Wiley & Sons, Inc.