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robots control

Robotica (1)

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Contribution to the study of dynamics and dynamic control of robots interacting with dynamic environment
Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
Journal:

Robotica / Volume 19 / Issue 2 / March 2001

Published online by Cambridge University Press:

01 March 2001, pp. 149-161
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The paper discusses some practical problems of contact dynamics. Modelling the dynamics of contact tasks is carried out in a completely general way. Two dynamic systems, active robot system and passive environment system are brought into contact and the relevant dynamics are analyzed. The effects are: rigid-body contact force, elastodynamics in contact zone, friction in contact points, etc. Simultaneous stabilization of contact force and position is obtained using New Dynamic Position/Force Control. The general model is then applied to some more concrete problems and the simulation results are presented.