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Global stabilization for constrained robot motions with constraint uncertainties

Published online by Cambridge University Press:  05 April 2001

Danwei Wang ,
Y. C. Soh ,
Y. K. Ho  and
Peter C. Müller
Danwei Wang
Affiliation:
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Republic of Singapore Email:edwang@ntu.edu.sg.
Y. C. Soh
Affiliation:
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Republic of Singapore Email:edwang@ntu.edu.sg.
Y. K. Ho
Affiliation:
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Republic of Singapore Email:edwang@ntu.edu.sg.
Peter C. Müller
Affiliation:
Safety Control Engineering, University of Wuppertal, Wuppertal D-42097, Germany
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Abstract

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In this paper, the global stability problem for constrained robot motions in the presence of constraint uncertainties is investigated. We focus on the uncertainties in the constraint functions and their effects on the global stability. PD type controllers are used and conditions for global stability are developed using Lyapunov's direct approach. In the presence of the constraint uncertainties under investigation, the desired position and constraint force can be guaranteed with global asymptotic convergence. The developed conditions for feedback gain selections clearly show the effects of the constraint uncertainties. For the case when the velocity measurements are not available, conditions for global stability regulation are also established and the robot controller uses only the measurements of the position angles. Finally, we consider the case where the robot joints are flexible and global stability conditions are given.

Keywords

Constrained robot motionGlobal stabilityUncertaintiesLyapunov's direct approach
Type
Research Article
Information
Robotica , Volume 16 , Issue 2 , March 1998 , pp. 171 - 179
Copyright
1998 Cambridge University Press