On Prescribed Contact Establishment

摘要

In this paper, the problem of establishing contact of robots with a planar surface having unknown stiffness and position is considered. Given a free-space controller that achieves tracking of a position and orientation reference trajectory, a novel, continuous on time controller is designed, capable of establishing and maintaining contact. Additionally, the proposed control scheme guarantees the satisfaction of certain pre-defined bounds regarding the maximum overshoot, the minimum convergence rate and the maximum steady-state error for the contact force, the position, and the orientation tracking errors. Moreover, all remaining closed-loop signals are kept bounded. Simulation studies on a 6-DOF robot, clarify and verify the theoretical findings.