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New approach to control of robotic manipulators interacting with dynamic environment

Published online by Cambridge University Press:  09 March 2009

Miomir K. Vukobratović  and
Yuri Ekalo
Miomir K. Vukobratović
Affiliation:
Robotics Laboratory, Mihajlo Pupin Institute, Volgina 15, POB 15, 11000 Belgrade (Yugoslavia).
Yuri Ekalo
Affiliation:
Institute of Fine Mechanics and Optics, 197 101 St. Petersburg (Russia).
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Summary

The fundamentals of an approach to solving the control task of robots interaction with a dynamic environment based on the stability of a closed-loop control system are given in this paper. The task is set and solved in its general form. The traditional control concept of compliant robot motion—the hybrid position/force control is discussed. In the paper the proposed control laws ensure simultaneous stabilization of both the desired robot motion and the desired interaction force, as well as their required quality of transient responses. In order to emphasize the fundamental point of this approach in controlling the contact tasks in robotics, the authors have assumed ideal parameters of interacting dynamic systems. The proposed control procedure is demonstrated by one simple example.

Keywords

Compliant motionDynamic environmentHybrid controlAsymptotic stabilityTransient response
Type
Articles
Information
Robotica , Volume 14 , Issue 1 , January 1996 , pp. 31 - 39
Copyright
Copyright © Cambridge University Press 1996

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