This paper draws attention to the role of the environment dynamics in force control of robots interacting with dynamic environment. Traditional control approaches are based on restrictive assumptions, on environment properties and cannot assure stability in general. In this paper, the role of the dynamic environment is emphasized and a contribution to understanding the mechanism of elasto-dynamic interaction is given. In this paper, it has been assumed that the force is stabilized and then local stability conditions of the whole system are studied. The study has been made on basis of a linearization of the closed-loop system.

1.
Raibert
M. H.
, and
Craig
J. J.
, “
Hybrid Position/Force Control of Manipulators
,”
ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol.
102
, No.
3
,
1981
pp.
126
133
.
2.
Mason
T. M.
, “
Compliance and Force Control for Computer Controlled Manipulators
,”
IEEE Trans. on Systems, Man and Cybernetics
, Vol.
SMC-11
, pp.
418
432
,
1981
.
3.
Colgate
J.
,
Hogan
N.
, “
Robust Control of Dynamically Interacting Systems
,”
Intern. Journal of Control
, Vol.
48
, pp.
65
88
,
1988
.
4.
An H. C, Hollerbach J., “Kinematic Stability Issues on Force Control of Manipulators,” Proc. of IEEE Int. Conference on Robotics and Automation, Releigh, pp. 847–903, 1987.
5.
An
H. C.
,
Hollerbach
J.
, “
The Role of Dynamic Models in Cartesian Force Control of Manipulators
,”
International Journal of Robotic Research
, Vol.
8
, No.
4
, pp.
51
62
,
1989
.
6.
McClamroch
N. H.
,
Wang
D.
, “
Feedback Stabilization and Tracking in Constrained Robots
,”
IEEE Trans. Automatic Control
, Vol.
33
, No.
5
, pp.
419
426
,
1988
.
7.
Eppinger
S.
,
Seering
W.
, “
Introduction to Dynamic Models for Robot Force Control
,”
IEEE Control Systems Magazine
, Vol.
7
, No.
2
, pp.
48
52
,
1987
.
8.
Hogan
N.
, “
On the Stability of the Manipulator Performing Contact Task
,”
IEEE Journal of Robotics and Automation
, Vol.
8
, No.
6
, pp.
677
686
,
1988
.
9.
Kazerooni
H.
,
Waibel
B. J.
, and
Kim
S.
, “
On the Stability of Robot Compliant Motion Control: Theory and Experiments
,”
ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol.
112
, pp.
417
426
, Sept.
1990
.
10.
De Luca A., Manes C., “Hybrid Force Position Control for Robots in Contact with Dynamic Environments,” Proc. of Robot Control SYROCO ’91, pp. 377–382, Vienna.
11.
De Luca A., Manes C. “On the Modeling of Robots in Contact with a Dynamic Environment,” 5th Int. Conf. on Advanced Robotics (ICAR’91), Pisa.
12.
Vukobratovic´ M., Ekalo Y., “Unified Approach to Control Laws Synthesis for Robotic Manipulators in Contact with Dynamic Environment, Tutorial S5: Force and Contact Control in Robotic Systems,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 213–229, 1993.
13.
Vukobratovic´
M.
,
Ekalo
Y.
, “
New Approach to Control of Robotic Manipulators Interacting with Dynamic Environment
,”
Robotica
, Vol.
14
, pp.
31
39
,
1996
.
14.
Ekalo
Y.
,
Vukobratovic´
M.
, “
Quality of Stabilization of Robot Interacting with Dynamic Environments
,”
J. of Intelligent and Robotic Systems
, Vol.
14
, No.
2
, pp.
155
179
,
1995
.
15.
Ekalo
Y.
, and
Vukobratovic´
M.
, “
Robust and Adaptive Position/Force Stabilization of Robotic Manipulators in Contact Tasks
,”
International Journal Robotica
, Vol.
11
, pp.
373
386
,
1993
.
16.
Ekalo
Y.
,
Vukobratovic´
M.
, “
Adaptive Stabilization of Motion and Forces in Contact Tasks for Robotic Manipulators with Non-Stationary Dynamics
,”
International Journal on Robotics and Automation
, Vol.
9
, Issue
3
, pp.
91
98
,
1994
.
17.
Vukobratovic´
M.
, and
Stojic´
R.
, “
On Position/Force Control of Robot Interacting with Dynamic Environment in Cartesian Space
,”
Trans. on the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol.
118
, pp.
187
192
,
1996
.
18.
Demidovich, B. P., Lectures on Mathematical Theory of Stability (in Russian), Nauka Publ., Moscow, 1967.
19.
Vukobratovic´
M.
, and
Katic´
D.
, “
Stabilizing Position/Force Control of Robots Interacting with Dynamic Environment by Learning Connectionist Structures
,”
Journal of IFAC Automatica
, Vol.
32
, No.
12
,
1996
, pp.
1733
1739
.
20.
Stokic´ D., and Vukobratovic M., “Contribution to Practical Stability Analysis of Robots Interacting with Dynamic Environment,” Proc. of First ECPD Conf. on Advanced Robotics and Intelligent Automation, pp. 693–698. Athens, 1995.
21.
Stokic´ D., and Vukobratovic´ M., “Practical Stability of Robots Interacting with Dynamic Environment,” submitted to Int. J. on Robotics and Automation.
This content is only available via PDF.
You do not currently have access to this content.