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impact control

Robotica (1)

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Simultaneous velocity, impact and force control
Ranko Zotovic Stanisic, Ángel Valera Fernández
Journal:

Robotica / Volume 27 / Issue 7 / December 2009

Published online by Cambridge University Press:

10 March 2009, pp. 1039-1048
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In this paper, we propose a control method to achieve three objectives simultaneously: velocity regulation during free motion, impact damping and finally force reference tracking. During impact, the parameters are switched in order to dissipate the energy of the system as fast as possible and the optimal switching criteria are deduced. The possibility of sliding regimes is analysed and the theoretical results are verified in simulations.