A Dynamic Model of Contact Between a Robot and an Environment with Unknown Dynamics
نویسنده
چکیده
This paper presents an analysis of frictionless contact between a rigid body belonging to a robot mechanism and one belonging to its environment. According to this analysis, it is possible to design a hybrid motion/force controller such that the motion and force subsystems are instantaneously independent of each other, and both are instantaneously independent of the environmental dynamics. Such a control system should be able to operate in an environment with unknown dynamics.
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