Is Dynamic Control Needed for Robots Interacting with Dynamic Environment? Udc: 007.52; 629.8'92
نویسندگان
چکیده
The paper addresses the role of dynamics in the control of robots interacting with a dynamic environment. The objective is to define is it necessary to include compensation for the different dynamic factor in the position/force control law. Starting from the complete dynamic model of the robot and of the environment, the effects of different dynamic factors upon position and force control of the robot are analysed. The control law based on complete inverse dynamic model and the decentralised control law are compared. The dynamics effects are first qualitatively analysed, and then an approach to explore these effects based on analysis of the practical stability of manipulation robots in the constrained motion control tasks is presented. The elaborated stability test can be used to check for each particular robot structure and environment and for different control tasks which dynamic effects have to be taken into account.
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