A hybrid system approach to contact stability and force control in robotic manipulators

Abstract

Force control and manipulation involving contacts are essentially hybrid control problems because of the inherent switching present in the dynamic behavior when the manipulator comes in contact with and leaves a surface. In this study, the game theoretic approach of hybrid control design is used to synthesize the least restrictive control law for a robotic manipulator to establish and maintain contact with a surface while keeping interaction forces within specified bounds.