The Role of Environment Dynamics in Contact Force Control of Manipulation Robots

[+] Author and Article Information
Miomir Vukobratović

Robotics Laboratory, Mihailo Pupin Institute, P.O. Box 15, Volgina 15, Beograd, Serbia

J. Dyn. Sys., Meas., Control 119(1), 86-89 (Mar 01, 1997) (4 pages) doi:10.1115/1.2801221 History: Received January 23, 1995; Online December 03, 2007


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 emphasized 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.

Copyright © 1997 by The American Society of Mechanical Engineers
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