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

被引：6
|
作者：
Vukobratovic, M
Potkonjak, V
Matijevic, V
机构：
[1] Mihailo Pupin Inst, Robot Dept, YU-11000 Belgrade, Yugoslavia
[2] Univ Belgrade, Fac Elect Engn, YU-11000 Belgrade, Yugoslavia
来源：
ROBOTICA | 2001年 / 19卷 / 19期
关键词：
dynamic control; dynamic environment; robots control;
D O I：
10.1017/S0263574700003064
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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 problem and the simulation results are presented.
引用
收藏
页码：149 / 161
页数：13
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