The Role of Environment Dynamics in Contact Force Control of Manipulation Robots

摘要

This paper draws attention to the role of the environment dynamics in force control of robots interacting with dynamic environment. Traditional control approaches are based on restrictive assumptions, on environment properties and cannot assure stability in general. In this paper, the role of the dynamic environment is emphasized and a contribution to understanding the mechanism of elasto-dynamic interaction is given. In this paper, it has been assumed that the force is stabilized and then local stability conditions of the whole system are studied. The study has been made on basis of a linearization of the closed-loop system.