Compliant robot motion II. A control approach based on external control loops
International Journal of Robotics Research
Automatica (Journal of IFAC)
Journal of Intelligent and Robotic Systems
How to Control Robots Interacting with Dynamic Environment
Journal of Intelligent and Robotic Systems
Force Sensing Using Kalman Filtering Techniques for Robot Compliant Motion Control
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
How to Control Robots Interacting with Dynamic Environment
Journal of Intelligent and Robotic Systems
Robust Hybrid Control of Constrained Robot Manipulators via Decomposed Equations
Journal of Intelligent and Robotic Systems
Path Planning and Control of a Cooperative Three-Robot System Manipulating Large Objects
Journal of Intelligent and Robotic Systems
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The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.