Robust compliant motion for manipulators, part I: The fundamental concepts of compliant motion

  title={Robust compliant motion for manipulators, part I: The fundamental concepts of compliant motion},
  author={Homayoon Kazerooni and Thomas B. Sheridan and Paul K. Houpt},
  journal={IEEE J. Robotics and Automation},
A method for the design of controllers of constrained manipulators in the presence of model uncertainties is developed. The controller must carry out fine maneuvers when the manipulator is not constrained, and compliant motion, with or without interaction-force measurement, when the manipulator is constrained. At the same time stability must be preserved if bounded uncertainties are allowed in modelling the manipulators. Stability of the manipulator and environment as a whole and the… CONTINUE READING
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