Skip to main content
SpringerLink
Log in

How to Control Robots Interacting with Dynamic Environment

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.

The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Raibert, M. H. and Craig, J. J.: Hybrid position/force control of manipulators, ASME Journal of Dyn. Systems, Measurement and Control 102(1981), 126–133.

    Google Scholar 

  2. Mason, M. T.: Compliance and force control for computer controlled manipulators, IEEE Trans. on Systems, Man and Cybernetics SMC-11(6) (1981), 418–432.

    Google Scholar 

  3. Paul, R. P.: Problems and research issues associated with the hybrid control of force and displacement, in: Proc. IEEE Int. Conf. on Robotics and Automation, 1987, 1966–1971.

  4. Yoshikawa, T., Sugie, T., and Tanaka, M.: Dynamic hybrid position/force control of robot manipulators–controller design and experiment, IEEE Journal of Robotics and Automation 4(6) (1988), 699–705.

    Google Scholar 

  5. De Luca, A. and Manes, C.: Hybrid force/position control for robots in contact with dynamic environments, in: Proc. of Robot Control SYROCO 91, Vienna, 1991, 377–382.

  6. Hogan, N.: Impedance control: An approach to manipulation, Part 1–Theory, Part 2–Implementation, Part 3–Application, Journal of Dynamic systems, Measurement and Control 107 (1985), 1–24.

    Google Scholar 

  7. Kazerooni, H., Sheridan, T. B., and Houpt, P. K.: Robust compliant motion for manipulators, Part 1: The fundamental concepts of compliant motion, IEEE Journal of Robotics and Automation RA-2(2) (1986), 83–92.

    Google Scholar 

  8. Duffy, J.: The fallacy of modern hybrid control theory that is based on ‘Orthogonal complements’ of twist and wrench spaces, Journal of Robotic Systems 7(2) (1990), 139–144.

    Google Scholar 

  9. Hogan, N.: On the stability of manipulators performing contact tasks, IEEE Journal of Robotics and Automation 4(6) (1988), 677–686.

    Google Scholar 

  10. Yabuta, T., Chona, A. J., and Beni, G.: On the asymptotic stability of the hybrid position/force control scheme for robot manipulators, in: Proc. IEEE Int. Conference on Robotics and Automation, Philadelphia, 1988, 338–343.

  11. Yabuta, T.: Nonlinear basic stability concept of the hybrid position/force control scheme for robot manipulators, IEEE Trans. on Robotics and Automation 8(5) (1992), 663–670.

    Google Scholar 

  12. Maples, J. A. and Becker, J. J.: Experiments in force control of robotic manipulators, in: Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, 1986, 695–703.

  13. De Shutter, J. and Van Brussel, H.: Compliant robot motion, Part 2: A control approach based on external control loops, Internat. Journal of Robotics Research 7(4) (1988), 17–25.

    Google Scholar 

  14. Stokić, D. and Shurdilovich, D.: Simulation and control of robotic deburring, International Journal of Robotics and Automation 5(1990), 107–115.

    Google Scholar 

  15. Stokić, D.: Constrained motion control of manipulation robots–a contribution, Robotica 9(1991), 157–163.

    Google Scholar 

  16. Vukobratović, M. and Ekalo, Yu.: New approach to control laws synthesis for robotic manipulators in contact with dynamic environment, Tutorial S5: Force and contact control in robotic systems: A historical perspective and current technologies, in: IEEE Int. Conf. on Robotics and Automation, Atlanta, 1993, 213–229.

  17. Vukobratović, M. and Ekalo, Yu.: New approach to control of robotic manipulators interacting with dynamic environment, Robotica 14(1996), 31–39.

    Google Scholar 

  18. Ekalo, Yu. and Vukobratovićc, M.: Quality of stabilization of robot interacting with dynamic environment, Journal of Intelligent and Robotic Systems 14(2) (1995), 155–179.

    Google Scholar 

  19. Ekalo, Yu. and Vukobratović, M.: Robust and adaptive position/force stabilization of robotic manipulators in contact tasks, Robotica 11(4) (1993).

  20. Ekalo, Yu. and Vukobratović, M.: Adaptive stabilization of motion and forces in contact tasks for robotic manipulators with non-stationary dynamics, Internat. Journal of Robotics and Automation 9(3) (1994), 91–98.

    Google Scholar 

  21. Ekalo, Yu. and Vukobratović, M.: Stabilization of robot motion and contact force interaction for third order actuators model, Journal of Intelligent and Robotic Systems, Theory and Applications 10(1994), 257–282.

    Google Scholar 

  22. Vukobratović, M. and Stojić, R.: On position/force control of robot interacting with dynamic environment in Cartesian space, ASME Journal of Dyn. Systems, Measurement and Control 118(1996), 187–192.

    Google Scholar 

  23. Vukobratović, M.: The role of environment dynamics in contact force control of manipulation robots, ASME Journal of Dyn. Systems, Measurements and Control, March issue (1997).

  24. Vukobratović, M., Rodić, A., and Ekalo, Yu.: Simulation experiments with new procedure of hybrid control of robotic manipulators interacting with dynamic environment, Teorya i Sistemi Upravlenia (in English), Izvestya Russian Academy of Sciences, Moscow, in press.

  25. Vukobratović, M., Rodić, A., and Ekalo, Yu.: Impedance control as a particular case of the unified approach to the control of robots interacting with a dynamic environment, Journal of Intelligent and Robotic Systems, in press.

  26. Kelly, R., Carelli, R., Amestegui, M., and Ortega, R.: On adaptive impedance control of robot manipulators, Proc. IEEE Conf. on Robotics and Automation, (1989), 572–577.

  27. Colgate, J. and Hogan, N.: Robust control of dynamically interacting Systems, Internat. Journal of Control, 48(1988), 65–88.

    Google Scholar 

  28. An, C. and Hollerbach, J.: Kinematic stability issues on force control of manipulators, in: Proc. of IEEE Int. Conference on Robotics and Automation, 1987, 847–903.

  29. An, C. and Hollerbach, J.: The role of dynamic models in Cartesian force control of manipulators, Internat. Journal of Robotics Research 8(4) (1989), 51–72.

    Google Scholar 

  30. McClamroch, N. H. and Wang, D.: Feedback stabilization and traking in constrained robots, IEEE Trans. on Automatic Control 33(5) (1988), 419–426.

    Google Scholar 

  31. Eppinger, S. and Seering, W.: Introduction to dynamic models for robot force control, IEEE Control Systems Magazine 7(2) (1987), 48–52.

    Google Scholar 

  32. Hogan, N.: On the stability of he manipulator performing contact task, IEEE J. of Robotics and Automation 8(6) (1988), 677–686.

    Google Scholar 

  33. Kazerooni, H., Waibel, B. J., and Kim, S.: On the stability of robot compiant motion control: Theory and experiments, Trans. of ASME, Journal of Dynamic Systems, Measurement and Control 112(1990), 417–426.

    Google Scholar 

  34. Stokić, D. and Vukobratović, M.: Contribution to practical stability analysis of robots interacting with dynamic environment, in: Proc. of the First ECPD Int. Conference on Advances Robotics and Intelligent Automation, Athens, 1995, 693–699.

  35. Stokić, D. and Vukobratović, M.: Practical stability of robots interacting with dynamic environment, submitted to Int. J. of Robotics and Automation.

  36. Michael, N. A.: Stability, transient behaviour and trajectory bounds of interconnected systems, Int. Journal of Control 11(4) (1970).

  37. Stokić, D. and Vukobratović, M.: Practical stabilization of robotic systems by decentralized control, Automatica 20(3) (1984).

Download references

Author information

Authors and Affiliations

  1. Robotics Laboratory, Mihailo Pupin Institute, P.O. Box 15, Volgina 15, Beograd, Yugoslavia

    Miomir Vukobratović

Authors
  1. Miomir Vukobratović
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Vukobratović, M. How to Control Robots Interacting with Dynamic Environment. Journal of Intelligent and Robotic Systems 19, 119–152 (1997). https://doi.org/10.1023/A:1007974811131

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/A:1007974811131

Search

Navigation