Feedback Linearization of Differential-Algebraic Systems and Force and Position Control of Manipulators
Document Type
Conference Proceeding
Publication Date
10-1-1993
Publication Title
American Control Conference, 1993
Publisher
Kluwer Academic Publishers
First page number:
2279
Last page number:
2282
Abstract
The question of realization and feedback linearization of a class of differential-algebraic system is considered. Based on nonlinear inversion of an input-output map, an analytical expression for the constraint force vector satisfying the algebraic constraints is derived. In this derivation, certain requirements on the relative degree of the output variables are relaxed. Using a new representation of the system in an extended state space, a control law is derived for the independent control of the chosen output variables satisfying algebraic constraints. These results are applied for the position and force control of robotic manipulators. Simulation results are presented for a three-link robotic arm with revolute joints. It is shown that in the closed-loop system, precise position and force trajectory control is accomplished in spite of uncertainty in the robot parameters.
Keywords
Control theory; Engineering design; Manipulators (Mechanism); Nonlinear systems; Robots – Control systems
Disciplines
Applied Mathematics | Control Theory | Mechanical Engineering | Robotics
Language
English
Permissions
Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.
Repository Citation
Yim, W.,
Singh, S. N.
(1993).
Feedback Linearization of Differential-Algebraic Systems and Force and Position Control of Manipulators.
American Control Conference, 1993
2279-2282.
Kluwer Academic Publishers.