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New Robust Tracking Control for Safe Constrained Robots under Unknown Impedance Environment

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Advances in Autonomous Robotics (TAROS 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7429))

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Abstract

In this paper, new sufficient conditions for safe motion/force tracking control of robotic systems under unknown environment are proposed. The asymptotic stability conditions are proved using a Lyapunov impedance approach and the relationship between the error dynamics of the robotic system and its energy. A 3DOF manipulator constrained to a circular trajectory is finally used to validate the stability, the robustness and the safety of the proposed approach.

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Author information

Authors and Affiliations

  1. National Institute of Applied Sciences and Technology, INSAT, Centre Urbain Nord, BP 676, 1080, Tunis, Tunisia

    Haifa Mehdi & Olfa Boubaker

Authors
  1. Haifa Mehdi
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  2. Olfa Boubaker
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Bristol Robotics Laboratory, University of Bristol, Bristol, UK

    Guido Herrmann

  2. Intelligent Autonomous Systems Lab Faculty of Computing, Engineering & Mathematical Sciences, University of the West of England, BS16 1QY, Bristol, U.K.

    Matthew Studley

  3. University of the West of England, BS34 8QZ, Bristol, UK

    Martin Pearson , Andrew Conn  & Chris Melhuish ,  & 

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Robot Intelligence Technology Laboratory, Department of EECS, KAIST, Daejeon, Korea

    Jong-Hwan Kim

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

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© 2012 Springer-Verlag Berlin Heidelberg

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Mehdi, H., Boubaker, O. (2012). New Robust Tracking Control for Safe Constrained Robots under Unknown Impedance Environment. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_28

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  • DOI: https://doi.org/10.1007/978-3-642-32527-4_28

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32526-7

  • Online ISBN: 978-3-642-32527-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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