Conditions for Kinematic Stability of Position/Force Control for Robots

摘要

This corresponance aims at correcting and clarifying the stability conditions given in Doulgeri, Fahantidis and Paul (1998) for selected error schemes in hybrid position/ force control. Sufficient kinematic stability conditions require not only symmetry of the equivalent Joint error projection matrix (Doulgeri, Fahantidis and Paul 1998) but also equal control gains. The positive definiteness of the system's potential function depends on the existence and magnitude of the contact stiffness. Full velocity feedback is required to ensure asymptotic stability.