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A general contact model for dynamically-decoupled force/motion control

  • Chapter 2 Dynamics And Control
  • Conference paper
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Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

This paper integrates a general first-order kinematic model of rigid-body contact with the equations of motion of the manipulated objects and robot arms. The more general kinematic allows us to model tasks that cannot be described using the Raibert-Craig model; a single Cartesian frame in which directions are either force- or motion-controlled is not sufficient. The integration with the object and manipulator dynamics allows us to generalize the concept of projection matrices in force/motion control and related applications. The model is developed using an invariant formulation based on the duality between motion and force vectors. Experimental results are presented showing a manipulation that involves controlling the force in two separate face-vertex contacts while performing motion. These multi-contact compliant motions often occur as part of an assembly and cannot be described using the Raibert-Craig model.

Supported by EPSRC Advanced Research Fellowship number B92/AF/1466.

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Author information

Authors and Affiliations

  1. Department of Engineering Science, Oxford University, Parks Road, OX1 3PJ, Oxford, England

    Roy Featherstone

  2. Aerospace Robotics Laboratory Department of Aeronautics and Astronautics, Stanford University, 94305, Stanford, CA, USA

    Stef Sonck

  3. Robotics Laboratory Department of Computer Science, Stanford University, 94305, Stanford, CA, USA

    Oussama Khatib

Authors
  1. Roy Featherstone
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  2. Stef Sonck
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  3. Oussama Khatib
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Featherstone, R., Sonck, S., Khatib, O. (1998). A general contact model for dynamically-decoupled force/motion control. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112956

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  • DOI: https://doi.org/10.1007/BFb0112956

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

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