Position tracking and force control of robotic manipulators with a descriptor system model. I. Linearization and solution for position and force control

摘要

This paper deals with the position and force control of a robot manipulator in which the end-effector is required to move along a specified trajectory with a specified contact force on a plane or general surface. Such a system is modeled as a nonlinear descriptor system consisting of a set of nonlinear differential equations and algebraic equations. A method of nonlinear state feedback and state space transformation is used to globally, exactly and totally linearize the nonlinear descriptor system into a linear descriptor system in the working space of the manipulator. Based on the resultant linear descriptor system, a necessary and sufficient condition for position and force control of robot manipulator is then obtained, and a synthesis method to design a controller is given. In the special case when the contact force is required to be zero, the controller becomes considerably simpler.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>