Abstract
In this paper the task of stabilizing programmed robot motion and its interaction with the environment is solved in a general form, taking into account the inaccuracies of robot and environment dynamics, as well as external perturbations. This task is solved under the constraints of robot motion, control input and interaction force. Under these conditions the estimates of transient responses by position and force are obtained and estimates of transient response time are given. Control laws which ensure the quality of robot stabilization are introduced. A description of the classes of stabilized motions and forces depending on the initial and external perturbations levels is given. The theoretical results presented in the paper are illustrated on a simulation example of a two-DOF manipulator.
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Ekalo, Y., Vukobratovic, M. Quality of stabilization of robot interacting with dynamic environment. J Intell Robot Syst 14, 155–179 (1995). https://doi.org/10.1007/BF01559610
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DOI: https://doi.org/10.1007/BF01559610