Hostname: page-component-848d4c4894-5nwft Total loading time: 0 Render date: 2024-05-23T07:39:24.235Z Has data issue: false hasContentIssue false
  • English
  • Français

Contribution to the study of dynamics and dynamic control of robots interacting with dynamic environment

Published online by Cambridge University Press:  01 March 2001

Miomir Vukobratovic ,
Veljko Potkonjak  and
Vladimir Matijevic
Miomir Vukobratovic
Affiliation:
Robotics Department, Mihajlo Pupin Institute, P.O. Box 15, 11000 Belgrade, Yugoslavia
Veljko Potkonjak
Affiliation:
Electrical Engineering Faculty, Bulevar Revolucije 73, 11000 Belgrade, Yugoslavia
Vladimir Matijevic
Affiliation:
Robotics Department, Mihajlo Pupin Institute, P.O. Box 15, 11000 Belgrade, Yugoslavia
Get access Rights & Permissions [Opens in a new window]

Abstract

The paper discusses some practical problems of contact dynamics. Modelling the dynamics of contact tasks is carried out in a completely general way. Two dynamic systems, active robot system and passive environment system are brought into contact and the relevant dynamics are analyzed. The effects are: rigid-body contact force, elastodynamics in contact zone, friction in contact points, etc. Simultaneous stabilization of contact force and position is obtained using New Dynamic Position/Force Control. The general model is then applied to some more concrete problems and the simulation results are presented.

Keywords

Dynamic controlDynamic environmentRobots control
Type
Research Article
Information
Robotica , Volume 19 , Issue 2 , March 2001 , pp. 149 - 161
Copyright
© 2001 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)