Proceedings Vol. 12 (2006)
ENGINEERING MECHANICS 2006
May 15 – 18, 2006, Svratka, Czech Republic
Copyright © 2006 Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, Prague
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
list of papers scientific commitee
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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