Engineering Mechanics

International Conference

Proceedings Vol. 12 (2006)


May 15 – 18, 2006, Svratka, Czech Republic
Editors: Jiří Náprstek and Cyril Fischer

Copyright © 2006 Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, Prague

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

list of papers scientific commitee

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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All papers were reviewed by members of the scientific committee.

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