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