Fixed-time compliant motion/force control of robotic manipulators with environmental constraints

Fixed-time compliant motion/force control of robotic manipulators with environmental constraints PurposeThe purpose of this paper is to design a new compliant motion/force control strategy for robotic manipulators with environmental constraints in the sense of fixed-time stability.Design/methodology/approachThis paper investigates a novel compliant motion/force control strategy for robotic manipulators with environmental constraints. By using the Lyapunov theory and fixed-time stability theory, a non-singular terminal sliding mode manifold is first established. Then, the compliant motion/force controller is designed, and relevant conditions are given for guaranteeing that the robotic manipulator can track the prescribed constrained trajectory while exerting a desired force to the environment in fixed-time. An illustrative example is presented to show the effectiveness of our proposed control strategy.FindingsBased on fixed-time stability theory, the desired compliant motion/force controller for robotic manipulators with environmental constraints is developed.Originality/valueCompared with most existing literature, the proposed fixed-time compliant motion/force control strategy can provide the upper bound of the settling time independent of the initial conditions in designing procedure and is more practical for the real-world applications. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Assembly Automation Emerald Publishing

Fixed-time compliant motion/force control of robotic manipulators with environmental constraints

Assembly Automation, Volume 37 (3): 7 – Aug 7, 2017

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Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
0144-5154
DOI
10.1108/AA-11-2016-158
Publisher site
See Article on Publisher Site

Abstract

PurposeThe purpose of this paper is to design a new compliant motion/force control strategy for robotic manipulators with environmental constraints in the sense of fixed-time stability.Design/methodology/approachThis paper investigates a novel compliant motion/force control strategy for robotic manipulators with environmental constraints. By using the Lyapunov theory and fixed-time stability theory, a non-singular terminal sliding mode manifold is first established. Then, the compliant motion/force controller is designed, and relevant conditions are given for guaranteeing that the robotic manipulator can track the prescribed constrained trajectory while exerting a desired force to the environment in fixed-time. An illustrative example is presented to show the effectiveness of our proposed control strategy.FindingsBased on fixed-time stability theory, the desired compliant motion/force controller for robotic manipulators with environmental constraints is developed.Originality/valueCompared with most existing literature, the proposed fixed-time compliant motion/force control strategy can provide the upper bound of the settling time independent of the initial conditions in designing procedure and is more practical for the real-world applications.

Journal

Assembly AutomationEmerald Publishing

Published: Aug 7, 2017

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