Modeling of robots in contact with a dynamic environment. Luca, A. D. & Manes, C. IEEE Transactions on Robotics and Automation, 10(4):542–548, August, 1994. doi abstract bibtex A control-oriented modeling approach for describing kinematics and dynamics of robots in contact with a dynamic environment is presented. In many robotic tasks the manipulator in contact cannot be simply modeled as a kinematically constrained system. Conversely, modeling of robot-environment interactions through dynamic impedance may not fit the task layout. A suitable model structure is proposed in this note that handles the more general case in which purely kinematic constraints on the robot end-effector live together with dynamic interactions. Feasible end-effector configurations are parameterized from the environment point of view, using a minimal set of coordinates. Accordingly, a description is obtained also for admissible velocities and contact forces. In particular, a force parameterization is chosen so as to separate static reaction forces from active forces responsible for energy transfer between robot and environment. The overall dynamics of the coupled robot-environment system is obtained in a single framework. The introduced modeling technique naturally leads to the design of new hybrid control laws
@article{luca_modeling_1994,
title = {Modeling of robots in contact with a dynamic environment},
volume = {10},
issn = {1042-296X},
doi = {10.1109/70.313104},
abstract = {A control-oriented modeling approach for describing kinematics and dynamics of robots in contact with a dynamic environment is presented. In many robotic tasks the manipulator in contact cannot be simply modeled as a kinematically constrained system. Conversely, modeling of robot-environment interactions through dynamic impedance may not fit the task layout. A suitable model structure is proposed in this note that handles the more general case in which purely kinematic constraints on the robot end-effector live together with dynamic interactions. Feasible end-effector configurations are parameterized from the environment point of view, using a minimal set of coordinates. Accordingly, a description is obtained also for admissible velocities and contact forces. In particular, a force parameterization is chosen so as to separate static reaction forces from active forces responsible for energy transfer between robot and environment. The overall dynamics of the coupled robot-environment system is obtained in a single framework. The introduced modeling technique naturally leads to the design of new hybrid control laws},
number = {4},
journal = {IEEE Transactions on Robotics and Automation},
author = {Luca, A. De and Manes, C.},
month = aug,
year = {1994},
keywords = {Deburring, Energy exchange, Equations, Force control, Friction, Impedance, Manipulator dynamics, Robot kinematics, Robotic assembly, Vectors, active forces, control-oriented modeling, coupled robot-environment system, dynamic environment, dynamic impedance, feasible end-effector configurations, hybrid control laws, kinematically constrained system, kinematics, manipulator, robot-environment interactions, robots, static reaction forces},
pages = {542--548}
}
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