Earticle

초록

영어

In this paper, a nonlinear hybrid position/force control is designed for a constrained two degrees of freedom robot. System dynamics is formulated based on Lagrange-Euler approach. Our objective is to control separately the movement of the robot and its contact forces. The contact force is obtained via the inverse dynamics with dynamic frictional force. Force control is realized through a virtual desired position of the end effector. Simulation results give satisfactory outcomes and proof the efficiency of the proposed hybrid control concept.

목차

Abstract
 1. Introduction
 2. Dynamics’ Model of the Constrained Robotic System
 3. Dynamics of the End Effector
  3.1. Contact Force Projections
  3.2. Normal Contact Force’s Formulation
  3.3. Frictional Force Modeling
 4. Constrained Robot’s Hybrid Control
  4.1. Position Control
  4.2 Force Control
  4.3 Equilibrium Study
  4.4. Hybrid Position/Force Control Strategy
  4.5Stability analysis
 5. Simulation Results and Discussion
 6. Conclusion
 APPENDIX
 References

키워드

저자

• Amine CHAÂBOUNI [ PhD student in Electrical Engineering, Department of Physics and Electrical Engineering, National Institute of Applied Science and of Technology, INSAT ]
• Ines BELAÏD DLIMI [ PhD student in Electrical Engineering, Department of Physics and Electrical Engineering, National Institute of Applied Science and of Technology, INSAT ]
• Hichem KALLEL [ PhD student in Electrical Engineering, Department of Physics and Electrical Engineering, National Institute of Applied Science and of Technology, INSAT ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605