Contribution to the position/force control of manipulation robots interacting with dynamic environment - A generalization

被引：4

作者：

Vukobratovic, M ^{[1
]}

Stojic, R

Ekalo, Y

机构：

[1] Mihailo Pupin Inst, Robot Dept, YU-11000 Belgrade, Yugoslavia

[2] Inst Fine Mech & Opt, St Petersburg 197101, Russia

来源：

AUTOMATICA | 1998年 / 34卷 / 10期

关键词：

robotic manipulation; force control; nonlinear control; asymptotic stability; dynamic environment;

D O I：

10.1016/S0005-1098(98)00069-7

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 work presents the extension of the results published recently. The control task is set and solved in its general form, with the number of contact force components smaller than the number of degrees of freedom of a robotic mechanism. The control methodology presented in the paper offers the possibility for synthesizing control laws, which ensure local asymptotic stability of desired robot behaviour. Simultaneous stabilization of both desired robot motion and the desired interaction force with an in advance specified transient response is achieved for cases in which the environment dynamics is described by second-order nonlinear differential equations. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：1219 / 1226

页数：8

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