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Contribution to the Position/Force Control of a Robot Interacting with Dynamic Environment in Cartesian Space

  • M. Vukobratovič
  • R. Stojič
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)

Abstract

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, 2] is considered. This control task is solved under the conditions on environment dynamics which are less restrictive than those in [1, 2] where some particular environment properties are required to ensure overall system stability. 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.

Keywords

Transient Response Dynamic Environment Force Dynamic Robot Motion Robotic Manipulator 
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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References

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Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • M. Vukobratovič
    • 1
  • R. Stojič
    • 1
  1. 1.M. Pupin InstituteBelgradeYugoslavia

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