Control of Physical Contact and Dynamic Interaction
Control of Physical Contact and Dynamic Interaction
复制标题
物理接触和动态交互的控制
DOI：
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发表时间：
1996
期刊：
影响因子：
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通讯作者：
N. Hogan
中科院分区：
文献类型：
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作者：
E. Fasse;N. Hogan
本文考虑了物理接触和机械相互作用对机械手动力学和控制的影响。操作基本上需要与被操作的对象接触；接触意味着机械相互作用；机械相互作用会对机械手的动力学和控制产生深远的影响，例如容易破坏控制器的稳定性。在目前的许多机器人应用中，由于接触力相对较小或不需要精确控制，物理接触的动态效应可能被忽略。然而，随着新的机器人设计允许相对较大的有效载荷，并且机器人被应用于需要更精确控制机械交互的任务，例如，涉及与人类亲密物理交互的应用，如触觉虚拟环境或个人护理机器人，物理接触的动力学可能会变得更加突出。
This paper considers the influence of physical contact and mechanical interaction on the dynamics and control of manipulators. Manipulation fundamentally requires contact with the object(s) being manipulated; contact implies mechanical interaction; and mechanical interaction can have a profound influence on manipulator dynamics and control - for example, controller stability is easily jeopardized. In many present robot applications the dynamic effects of physical contact may be neglected either because contact forces are relatively small or because they need not be controlled accurately. However, the dynamics of physical contact are likely to become more prominent as newer robot designs permit relatively larger payloads and robots are applied to tasks requiring more precise control of mechanical interaction, e.g., applications involving intimate physical interaction with humans such as haptic virtual environments or personal-care robots.