On Position/Force Control of Robot Interacting With Dynamic Environment in Cartesian Space

[+] Author and Article Information
Miomir Vukobratović, Radoslav Stojić

Robotics Laboratory, Mihailo Pupin Institute, 11000 Beograd, Bosnia

J. Dyn. Sys., Meas., Control 118(1), 187-192 (Mar 01, 1996) (6 pages) doi:10.1115/1.2801145 History: Received May 16, 1994; Revised January 26, 1995; Online December 03, 2007


In this paper, the problem of simultaneous stabilization of both the robot motion and interaction force in Cartesian space, based on the unified approach to contact task problem in robotics [1], is considered. This control task is solved under the conditions set on environment dynamics which are less restrictive than those in [1] where some particular environment properties are required to ensure overall system stability. Furthermore, the one-to-one correspondence between closed-loop motion and force dynamic equations is obtained and unique control law ensuring system stability and preset either motion or force transient response is proposed.

Copyright © 1996 by The American Society of Mechanical Engineers
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