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.
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References
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© 1995 Springer-Verlag Wien
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Vukobratovič, M., Stojič, R. (1995). Contribution to the Position/Force Control of a Robot Interacting with Dynamic Environment in Cartesian Space. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) Theory and Practice of Robots and Manipulators. International Centre for Mechanical Sciences, vol 361. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2698-1_20
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DOI: https://doi.org/10.1007/978-3-7091-2698-1_20
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82697-3
Online ISBN: 978-3-7091-2698-1
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