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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© 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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