Position and force control of robot arms

Abstract

A stability analysis for robot manipulators under the influence of external forces is presented. Several control objectives are considered: rejecting the external force as a source of disturbance, complying with the external force as a generalized mass-spring-damper system, and actively controlling the external force when a dynamic model of the environment is available. In each of these cases, a stability analysis using the Lyapunov method is presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>