Impact/contact Model For The Control Of
Mechanical Systems In Contact Motion
Author(s)
J. de Carufel & D.S. Necsulescu
Abstract
In dynamics based control, a dynamic model of the controlled system is directly
used in the control law. For manipulators performing tasks requiring contact
with the environement, the development of a contact model is then necessary.
Although the problem has been addressed in the past, all approaches lack a
unified modelling. In this paper, a unified modelling approach proposed in
Contact Mechanics is investigated for its use in impact and contact motion
control of manipulators. In the framework of model based predictive control,
a model representing the robot dynamics, the unilateral elastic/plastic contact
and the frictional forces is developped. Simulation results are presented and
demonstrate the performance of the model.
1. Introduction
The objective of dynamics based control is to u
Keywords
Related Book
Other papers in this volume
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