Modelling the Interaction between Robot and Environment

  • A. A. Goldenberg
Conference paper
Part of the NATO ASI Series book series (volume 52)


The contact between robot and environment generates forces of interaction which need to be controlled. In addition, the motion of the robot interacting with the environment must also be controlled. The unification of these two objectives is usually titled ‘force and position control’. In the recent past this issue has been extensively addressed in the research, and several basic approaches to force control have emerged. The synthesis of controllers for force and position control has also been addressed. The paper reviews some of the relevant work in this area in particular the techniques used to generate models of the interaction between robot and environment. The paper also addresses conceptually the implementation of impedance control and presents an application of this technique as well as of the descriptor system to control of interaction forces in a dexterous multifingered hand.


Force Control Inertial Frame Singular System Impedance Control Force Mode 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • A. A. Goldenberg
    • 1
  1. 1.Robotics and Automation Laboratory, Department of Mechanical EngineeringUniversity of TorontoCanada

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