Postural stability of constrained three dimensional robotic systems

Hichem Kallel, Hooshang Hemami, Sheldon Simon

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

A Lyapunov-based approach for the design of a PD (proportional-derivative) controller for robotic systems that are subject to multiple constraints is developed. A candidate Lyapunov function is proposed for the proof of stability using the mechanical energy equation for constrained systems. Sufficient conditions for local and global stability of the unconstrained system are given. An analysis is presented for the unconstrained case and extended to the constrained case. To check the effectiveness of the proposed controller, an eight-link three-dimensional biped model is considered. The system dynamic equations are first derived. Constraint support forces are later added to the system. Simulation of the model motion when equipped with the proposed controller shows that it exhibits a stable response in the unconstrained case.

Original languageEnglish
Title of host publicationProc 1990 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages2120-2125
Number of pages6
ISBN (Print)0818620617, 9780818620614
DOIs
StatePublished - 1990
Externally publishedYes
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: 13 May 199018 May 1990

Publication series

NameProc 1990 IEEE Int Conf Rob Autom

Conference

ConferenceProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period13/05/9018/05/90

Fingerprint

Dive into the research topics of 'Postural stability of constrained three dimensional robotic systems'. Together they form a unique fingerprint.

Cite this