标题： 机器人的工具几何控制 显示英文标题

标题： Geometric Control of a Robot's Tool

摘要： 本文的目标是提出一种严格且内在的黎曼PD调节器，用于机器人的工具。第一个方法基于LaSalle不变性原理，在配置空间中不存在奇点的假设下，用于控制工具在工作空间中的位置。第二个方法处理机器人工具轨迹上的几何约束，在相同的假设下，我们构建了一个唯一的正交力，该力被视为保持工具受约束的引力。我们还提出了第一种方法在双摆情况下的变体，基于Lyapunov稳定性定理。通过这种修改，我们控制工具以及两个角度之间的差异，在一个两连杆机械臂上进行了仿真，展示了所提出方法的有效性。 显示英文摘要

摘要： The goal of this paper is to present a rigorous and intrinsic formulation of a Riemannian PD-regulator of the robot's tool, The first one is based upon the Lasalle's invariance principle, we use it to control the tool's position in the workspace under the assumption of absence of singularities in configuration space, The second method deals with geometrical constraints on the trajectory of the robot's tool with the same assumption, we construct a unique orthogonal force that is viewed as a gravitational force that keeps the tool constrained, We also present a variation of the first method in the case of double pendulum based on the Lyapunov stability theorem. With this modification, we control the tool and the difference between the two angles, we did simulations on a two-link manipulator that shows the efficiency of the presented methods.