Stable Positioning Control Of 3-dimensional multi-link Manipulator For Contact Tasks

摘要

In this paper, a methodology is proposed to obtain a stable control law for the manipulators which perform contact tasks. The methodology is based on the Lyapunov direct method. The subject manipulators are nonlinear redundant multi-link manipulator systems which are interacting with a flexible wall with collision phenomena at the contact of tasks. The stability and response of a system are examined by parameter studies of numerical simulation. As the demands for rapid motion of robotics has been increasing in the field of industry to achieve higher efficiency, collision has become a problem to be solved, because every task includes contact when a manipulator acts on an object. In this paper we prove theoretically by Lyapunov direct method that this nonlinear system can be controlled stably with the combination of linear feedback and feedforward to compensate gravity without any expectation of the manipulator’s robustness. We also prove that the collision has the stabilization effect. It is addressed that collision can be used to control contact tasks of general elbow-type manipulators.