On the stability of a simple contact-non contact robotic task

Abstract

The goal of this study is to point out some problems related with stabilization of motion-controlled manipulators that come in contact with a compliant environment, in particular the sufficient conditions guaranteeing asymptotic convergence of the solutions towards the steady-state solution. The authors restrict themselves to a simple PD motion controller, and to the case of a purely elastic environment.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>