Force control of kinematically constrained mechanisms in the presence of contact point disturbances

摘要

This paper presents a discussion of the issues related to force control in closed- loop kinematically constrained mechanisms. Unlike many of the analyses presented in robotics literature, which tend to model the contact with a stiff, but finite, compliance, the analysis in this paper focuses on the issues particular to mechanisms in which the contact relationship is kinematic. Motions of these kinematically constrained points thus give rise to contact force fluctuations which are related to both the inertial properties of the mechanism and the nonlinear kinematics.