Representation of Constrained Motion and Dynamic Control of Manipulators under Constrained

Predictable Motion of Hyper-redundant Manipulators Using Constrained Optimization Control

Hyper-redundant robotic manipulators are robots that have many more degrees of freedom than required for a typical task such as grasping an object in 3D space. The large number of joints, which may range from dozens to thousands, offers both opportunities and challenges for the control of such robots. An opportunity is to use the extra degrees of freedom to optimally control multiple objectives...

Force/motion control of constrained manipulators without velocity measurements

In this note we deal with the problem of force/tracking control of constrained manipulators without velocity measurements interacting with an innnitely stii environment. We use a reduced order model for which the coordinates space is restricted to a subset where the constraints Jacobian is guaranteed to be non singular. In contrast to other similar approaches, we do not assume that the generali...

Hybrid Force-Position Control For Manipulators under Transitions Free to Constrained Motion

This paper presents a scheme hybrid force/position control for robots manipulators nonlinear of n-DOF based on the principle of orthogonal decomposition spaces by holonomic constraints, which ensures stability of the closed-loop system because adaptive control exchange force and position between the manipulators to be applicable in free motion and in constrained motion. The reaction force in th...

Orthogonalization Principle for Dynamic Visual Servoing of Constrained Robot Manipulators

A monocular visual servoing scheme for constrained robots is considered in this chapter. Inspired by the Orthogonalization Principle (OP) introduced by Suguru Arimoto in the context of robot force control, a Visual Orthogonalization Principle (VOP) is proposed and a novel control scheme for adaptive image-based visual servoing is presented. The scheme guarantees a global exponential convergence...

Model-Adaptive Hybrid Dynamic Control For Constrained Motion Systems