Abstract
Abstract This paper analyses a force control scheme used for interactions between a manipulator and a nonlinearly stiff environment. Initially, a nonlinear model for the contact stiffness is developed, and the idea of using an accommodation law in controlling force is introduced. Accommodation is the inverse of damping, and corresponds to a force input/velocity output mapping. The stability of the scheme is analysed using the second method of Lyapunov. The analysis is new since it takes into account the variation in stiffness caused by changes in the deformation of the load (or environment). The results are applicable to many types of contact that can be described by nonlinear stiffness models. Such models are more general than the linear ones which have been the base for the results available in the literature.
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