NDLI: Constrained robot motion in presence of stiff and compliant contact

Content Provider	IEEE Xplore Digital Library
Author	Manes, C.
Copyright Year	1993
Description	Author affiliation: Dipartimento di Ingegneria Elettrica, L'Aquila Univ., Italy (Manes, C.)
Abstract	The problem of simultaneous position and force control for robots moving in contact with the environment is typically formulated under the assumption of infinitely stiff interaction. A rigorous approach is presented to formulate and solve the control problem under both stiff and compliant assumptions. A suitable formalism is first developed for the description of robot-environment stiff and compliant interactions. The model structure obtained is helpful for the design of control schemes of various complexity and for the construction of stability proofs. Two kinds of control laws are derived, denoted as dynamic and kinematic, respectively. Dynamic control laws fully exploit the robot-environment kinematic and dynamic models, while kinematic laws use the kinematic description of robot dynamics.
Starting Page	551
Ending Page	558
File Size	700920
Page Count	8
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.291900
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot motion Robot kinematics Force control Vectors Orbital robotics Stability Robot control Velocity control Guidelines Impedance
Content Type	Text
Resource Type	Article

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Constrained robot motion in presence of stiff and compliant contact