Abstract
Given the problem of static and dynamic contact stability of manipulators, this work extends classical hybrid force/motion control by introducing an additional feedback part to allow smooth environmental contact of the robot. The extension is the outcome of an in-depth stability analysis of velocity-controlled manipulators in passive environments and can be considered the first of its kind. In addition to this theoretical contribution, the application to a redundant 7-DoF robot confirms the achievable benefit compared to the classical implementation w.r.t. transient effects (like positional deviation or exerted force) in the event of an environmental contact.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
