Robust jump impact controller for manipulators

Chiu, D.; Lee, S.

doi:10.1109/iros.1995.525811

Cited by 15 publications

(15 citation statements)

References 11 publications

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“…The inequality in (49) along with (21) and (48) can be used to conclude that as the manipulator approaches the mass, e f (t) will eventually be upper bounded as follows:…”

Section: Case 1: Noncontactmentioning

confidence: 99%

Global Adaptive Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing An Impact Collision

Dupree¹,

Liang²,

Hu³

et al. 2006

Proceedings of the 45th IEEE Conference on Decision and Control

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Abstract-The control of dynamic systems that undergo an impact collision is both theoretically challenging and of practical importance. An appeal of studying systems that undergo an impact is that short-duration effects such as high stresses, rapid dissipation of energy, and fast acceleration and deceleration may be achieved from low-energy sources. However, colliding systems present a difficult control challenge because the equations of motion are different when the system suddenly transitions from a noncontact state to a contact state. In this paper, an adaptive nonlinear controller is designed to regulate the states of two dynamic systems that collide. The academic example of a planar robot colliding with an unactuated mass-spring system is used to represent a broader class of such systems. The control objective is defined as the desire to command a robot to collide with an unactuated system and regulate the mass to a desired compressed state while compensating for the unknown constant system parameters. Lyapunov-based methods are used to develop a continuous adaptive controller that yields asymptotic regulation of the mass and robot links. It is interesting to note that one controller is responsible for achieving the control objective when the robot is in free motion (i.e., decoupled from the mass-spring system), when the systems collide, and when the system dynamics are coupled.

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“…The inequality in (49) along with (21) and (48) can be used to conclude that as the manipulator approaches the mass, e f (t) will eventually be upper bounded as follows:…”

Section: Case 1: Noncontactmentioning

confidence: 99%

Global Adaptive Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing An Impact Collision

Dupree¹,

Liang²,

Hu³

et al. 2006

Proceedings of the 45th IEEE Conference on Decision and Control

View full text Add to dashboard Cite

show abstract

“…After completing the square in the bracketed terms, (4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18)(19)(20)(21)(22) can be expressed aṡ…”

Section: Stability Analysismentioning

confidence: 99%

“…Walker and Gertz et al exploited kinematic redundancy of the manipulator to reduce the impact force in [19]- [21]. By modeling the impact dynamics as a state dependent jump linear system, Chiu and Lee were able to apply a modified stochastic maximum principle for state dependent jump linear systems to optimize the approach velocity, the force transient during impact and the steady state force error after contact is established [22]. A two degree-of-freedom (DOF) planar manipulator was globally asymptotically regulated to contact an infinitely rigid and massive surface by Tornambe [23] where the impact force was estimated using a reducedorder observer.…”

Section: Introductionmentioning

confidence: 99%

Lyapunov-based control of a robot and mass-spring system undergoing an impact collision

Dupree

Dixon

et al. 2006

2006 American Control Conference

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To my wife Yen-Chen and son Hsu-Chen who constantly filled me with love and joy. ACKNOWLEDGMENTSI would like to express my gratitude to my advisor, mentor, and friend, Dr.Warren E. Dixon for introducing me with the interesting field of Lyapunov-based control. As an advisor, he provided the necessary guidance and allowed me to try some stupid ideas during my research. As a mentor, he helped me understand the high pressure of working in a professional environment and was willing to give me time to learn and adjust. I feel fortunate in getting the opportunity to work with him.

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“…For example, such a kind of problem is faced in the case of mechanical systems, such as industrial robots and numerical machines, that have to execute repetitive commands or when disturbances depending on the frequency of the power supply have to be rejected [1]; in the design of high-precision tracking control systems for digital video disk players [2]; in the precise speed control for ultrasonic motors [3]; and when dealing with high-accuracy magnet power supply for proton synchrotron [4]. This type of control is usually referred to as repetitive control, a name first adopted by Hara et al [1], who have studied a controller incorporating a pure delay.…”

Section: Introductionmentioning

confidence: 99%

Energy-Based Nonlinear Control of Underactuated Euler-Lagrange Systems Subject to Impacts

Dixon²,

Makkar³

Proceedings of the 44th IEEE Conference on Decision and Control

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Abstract-In this note, Lyapunov-based methods are used to design a class of energy-based nonlinear controllers to globally asymptotically stabilize/regulate an underactuated mechanical system subject to an impact collision. The impact model is considered as an elastic contact with finite stiffness. One of the difficulties in controlling impact is that the equations of motion are quite different when the system status changes from a noncontact condition to a contact condition. Another difficulty arises when an impact occurs with an underactuated system because the impact may lead to instabilities or excessive transients. An energy coupling approach is developed in this paper that is motivated by the desire to improve the transient response of the system. A Lyapunov stability analysis and numerical simulations are provided to demonstrate the stability and performance of the developed controllers.

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Robust jump impact controller for manipulators

Cited by 15 publications

References 11 publications

Global Adaptive Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing An Impact Collision

Global Adaptive Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing An Impact Collision

Lyapunov-based control of a robot and mass-spring system undergoing an impact collision

Energy-Based Nonlinear Control of Underactuated Euler-Lagrange Systems Subject to Impacts

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