Chapter

Trajectory Tracking Feedback Control of Robot Manipulators with Coupled Dynamics of Force and Position

12/2009; DOI:10.1007/978-1-84882-694-6_62 pp.353-358

ABSTRACT When a robot manipulator contacts an object, a Coulomb friction force occurs in the motion direction on the surface. Therefore,
it seems that the previously proposed control methods can not obtain good control performance with trajectory tracking. This
paper proposes a new trajectory tracking control method for cases that there is a Coulomb friction force between a robot and
an object. It is mathematically proven that trajectory tracking errors between actual motions and desired motions can be effectively
reduced as position and velocity feedback gains increase. The trajectory tracking performance of the proposed feedback control
method is demonstrated by some simulation results.

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Keywords

actual motions
 
Coulomb friction force
 
desired motions
 
good control performance
 
motion direction
 
new trajectory
 
proposed control methods
 
robot manipulator contacts
 
simulation results
 
trajectory
 
velocity feedback gains increase