Stability of Control Concepts for Constraint Robot Tasks based on Skill Primitives

T. Reisinger (Germany)


Constraint dynamics, Hybrid position/force control, Paral lel robots, Stability verification, Skill primitives


A control concept for constraint robot tasks based on the hybrid position/force control strategy is described in this paper. Requirements of parallel robots are taken into ac count. Thus, the forward kinematics problem is not used for control, which makes the controller suitable for all classes of parallel robots. The constraint robot tasks are defined in a programming language based on skill primi tives providing the flexibility and sensor based movements of this concept to the controller. The global asymptotic sta bility of the derived controller is verified for constraint mo tions on arbitrary oriented planar environments.

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