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Contribution to the study of dynamics and dynamic control of robots interacting with dynamic environment

Published online by Cambridge University Press:  01 March 2001

Miomir Vukobratovic ,
Veljko Potkonjak  and
Vladimir Matijevic
Miomir Vukobratovic
Affiliation:
Robotics Department, Mihajlo Pupin Institute, P.O. Box 15, 11000 Belgrade, Yugoslavia
Veljko Potkonjak
Affiliation:
Electrical Engineering Faculty, Bulevar Revolucije 73, 11000 Belgrade, Yugoslavia
Vladimir Matijevic
Affiliation:
Robotics Department, Mihajlo Pupin Institute, P.O. Box 15, 11000 Belgrade, Yugoslavia
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Abstract

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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.

Keywords

Dynamic controlDynamic environmentRobots control
Type
Research Article
Information
Robotica , Volume 19 , Issue 2 , March 2001 , pp. 149 - 161
Copyright
© 2001 Cambridge University Press