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• W1555431109 abstract "This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion/force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of freedom of the end-effector of the manipulator. Therefore, the focus is on this contact degree of freedom, and a switching position-force controller is proposed to perform the hybrid position-force tracking task. Sufficient conditions are presented to guarantee input-to-state stability of the switching closed-loop system with respect to perturbations related to the time-varying desired motion-force profile. The switching occurs when the manipulator makes or breaks contact with the environment. The analysis shows that to guarantee closed-loop stability while tracking arbitrary time-varying motion-force profiles, the controller should implement a considerable (and often unrealistic) amount of damping, resulting in inferior tracking performance. By redesigning the manipulator with a compliant wrist and employing the designed switching control strategy, stable tracking of a motion-force reference trajectory can be achieved and bouncing of the manipulator while making contact with the stiff environment can be avoided." @default.
• W1555431109 created "2016-06-24" @default.
• W1555431109 creator A5004028181 @default.
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• W1555431109 date "2015-07-01" @default.
• W1555431109 modified "2023-09-27" @default.
• W1555431109 title "Switched position-force tracking control of a manipulator interacting with a stiff environment" @default.
• W1555431109 cites W1509235676 @default.
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• W1555431109 doi "https://doi.org/10.1109/acc.2015.7172090" @default.
• W1555431109 hasPublicationYear "2015" @default.
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