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A Dynamic Model of Contact Between a Robot and an Environment with Unknown Dynamics

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Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 6))

Abstract

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. A control system with this property should be able to operate in contact with an environment having unknown dynamics.

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Author information

Authors and Affiliations

  1. Dept. Systems Engineering, Australian National University, Canberra, Australia

    Roy Featherstone

Authors
  1. Roy Featherstone
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Editor information

Editors and Affiliations

  1. Dept. of Electrical and Computer Systems Engineering, Monash University, Clayton, VIC, 3800, Australia

    Raymond Austin Jarvis

  2. Dept. of Systems Engineering, The Australian National University, Canberra, ACT, 0200, Australia

    Alexander Zelinsky

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© 2003 Springer-Verlag Berlin Heidelberg

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Featherstone, R. (2003). A Dynamic Model of Contact Between a Robot and an Environment with Unknown Dynamics. In: Jarvis, R.A., Zelinsky, A. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36460-9_29

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  • DOI: https://doi.org/10.1007/3-540-36460-9_29

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00550-6

  • Online ISBN: 978-3-540-36460-3

  • eBook Packages: Springer Book Archive

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