Engineering Mechanics

Proceedings Vol. 12 (2006)

ENGINEERING MECHANICS 2006

NATIONAL CONFERENCE WITH INTERNATIONAL PARTICIPATION
May 15 – 18, 2006, Svratka, Czech Republic

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Editors: Jiří Náprstek and Cyril Fischer

ISBN 80-86246-27-2 (printed, Extended Abstracts)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

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Position control of robot under endpoint constraints

V. Záda
pages 442 - +7p., full text

In this contribution we study PD-control of the robot endpoint that is constrained to move on a given surface described by a scalar function. This function depends on the Cartesian coordinates which are expressed in the inertial reference frame. The contact friction force arises in the direction against the motion velocity. The discussion of this contribution leads to formulate a theorem about asymptotic stability in a neighborhood of desired position.

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Engineering Mechanics

International Conference

Proceedings Vol. 12 (2006)

ENGINEERING MECHANICS 2006