The role of environment dynamics in contact force control of manipulation robots

被引：4
|
作者：
Vukobratovic, M
机构：
[1] Robotics Laboratory, Mihailo Pupin Institute, Beograd, P.O. Box 15
来源：
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1997年 / 119卷 / 01期
关键词：
D O I：
10.1115/1.2801221
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper draws attention to the role of the environment dynamics in force control of robots interacting with dynamic environment. Traditional control approaches are based on restrictive assumptions on environment properties and cannot assure stability in general. In this paper, the role of the dynamic environment is emphasised and a contribution to understanding the mechanism of elasto-dynamic interaction is given. In this paper, it has been assumed that the force is stabilized and then local stability conditions of the whole system are studied The study has been made on basis of a linearization of the closed-loop system.
引用
收藏
页码：86 / 89
页数：4
相关论文
共 50 条
  • [21] A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment
    Gioioso, Guido
    Mohammadi, Mostafa
    Franchi, Antonio
    Prattichizzo, Domenico
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 318 - 324
  • [22] FORCE SENSING AND CONTROL DURING MOVEMENT AND OBJECT MANIPULATION IN MERO WALKING ROBOTS
    Ion, Ion
    Curaj, Adrian
    Vasile, Aurelian
    Iulia, Dumitru
    Grigore, Stamatescu
    NATURE INSPIRED MOBILE ROBOTICS, 2013, : 651 - 658
  • [23] POSITION/FORCE CONTROL OF MANIPULATOR IN CONTACT WITH FLEXIBLE ENVIRONMENT
    Gierlak, Piotr
    ACTA MECHANICA ET AUTOMATICA, 2019, 13 (01) : 16 - 22
  • [24] On forming the dynamics equations of manipulation robots as applied to motion control problems
    Krak, Yu.V.
    Soviet journal of automation and information sciences, 1988, 21 (04): : 92 - 96
  • [25] Neural Network Based Contact Force Control Algorithm for Walking Robots
    Kim, Byeongjin
    Kim, Soohyun
    SENSORS, 2021, 21 (01) : 1 - 16
  • [26] Analysis and Design of Direct Force Control for Robots in Contact with Uneven Surfaces
    Rosales, Antonio
    Heikkilae, Tapio
    APPLIED SCIENCES-BASEL, 2023, 13 (12):
  • [27] Comparison of Control Methods: Learning Robotics Manipulation with Contact Dynamics
    Wang, Kedao
    Li, Yong
    2018 IEEE INTERNATIONAL CONFERENCE ON SIMULATION, MODELING, AND PROGRAMMING FOR AUTONOMOUS ROBOTS (SIMPAR), 2018, : 1 - 7
  • [28] On coordinated manipulation of robots considering contact movement
    Beijing Polytechnic University, Beijing 100022, China
    Jixie Kexue Yu Jishu/Mechanical Science and Technology, 2001, 20 (06): : 803 - 805
  • [29] Contact dynamics and force control of space manipulator systems
    Kim, SW
    Misra, AK
    Modi, VJ
    PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES, 2001, 359 (1788): : 2271 - 2286
  • [30] Contact dynamics and force control of space robotic systems
    Kim, SW
    Misra, AK
    Modi, VJ
    Cyril, X
    SPACE ROBOTICS (SPRO'98), 1999, : 13 - 18
12345