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Modeling of robots in contact with a dynamic environment

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2 Author(s)
De Luca, A. ; Dipartimento di Inf. e Sistemistica, Rome Univ., Italy ; Manes, C.

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

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Robotics and Automation, IEEE Transactions on  (Volume:10 ,  Issue: 4 )