Impact Control of a Single-Link Robot Striking Different Environments: Theoretical and Experimental Investigation

摘要

The paper deals with the impact control of a single-link rigid robot, striking different environments, i.e., having different elastic plastic characteristics. The control goal is bringing the link in a stable contact with dif- ferent external environments, reproducing elastic, rigid, or quasi-rigid impact conditions, and guaranteeing a desired value for the steady-state position of the link, compatible with the contact.