Robust and adaptive position/force stabilization of robotic manipulators in contact tasks

摘要

SUMMARY Control laws are described for solving the task of stabilization of motion and force of interaction of a robot with its environment with a prescribed quality of transient processes with respect to position and in the presence of control, motion, and interaction force constraints. The robustness of these laws to parametric perturbations and their stability with respect to initial and external perturbations and measuring sensor errors have been proven.