The Role of Environment Dynamics in the Position/Force Control of Manipulation Robots

摘要

This paper is basically intended to draw attention to the significance of environment dynamics in the investigation of one of today's most attractive and most delicate control problems in theoretical and practical robotics—the problem of position/force control of robots interacting with a dynamic environment. It is pointed out that traditional control approaches are based on restrictive assumptions on environment properties and cannot assure stability in the general case. With the aim of drawing attention only to the aspect of the dynamic environment in this control task, the active role of the dynamic environment was demonstrated and a contribution to understanding the mechanism of interaction by taking into account the elasto-dynamic effects of the environment was given. By examples with one degree of freedom, it is demonstrated that even in the simplest types of mechanical systems, there exists a nominal trajectory where there is a lack of sufficient conditions. The advantage of the new direction in control synthesis, ensuring simultaneous stabilization of both desired robot motion and interaction force within advance specified transient response is described.