Control and Stability Analysis of Multi-Joint Manipulator under Constraints Based on Riemannian Geometry

Hao Liu; Hua Fei Sun; Gui Yan Ding; Teng Zhang; Lei Yuan

doi:10.4028/www.scientific.net/AMR.591-593.1315

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 591-593Control and Stability Analysis of Multi-Joint...

Control and Stability Analysis of Multi-Joint Manipulator under Constraints Based on Riemannian Geometry

Abstract:

This paper investigates the optimal control of multi-joint manipulator from the view of Riemannian geometry. We construct Riemannian manifold equipped with kinetic energy metric about configuration space, and regard constraints work space as submersion submanifold. We define the covariant forms for velocity and acceleration on Riemannian manifold, which make all expressions be independent of the choice of the coordinate systems, and research the relationship between the Euler equation and the geodesic equation, and show the property of preserving energy along geodesic paths. We investigate the hybrid position and force control under constraints, and analyze the corresponding stability based on Lyapunov’s method.

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Periodical:

Advanced Materials Research (Volumes 591-593)

Pages:

1315-1319

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.591-593.1315

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Online since:

November 2012

Authors:

Hao Liu, Hua Fei Sun, Gui Yan Ding, Teng Zhang, Lei Yuan

Keywords:

Control Analysis, Multi-Joint Manipulator, Riemannian Geometry, Stability Analysis

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