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
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