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This paper analyzes the robustness and stability of disturbance observer (DOb)-based explicit force control systems. Conventional analysis methods, which only consider ideal robustness, are impractical due to the design constraints of a DOb, e.g., bandwidth limitations. This paper shows that not only the stability but also the robustness of a DOb-based explicit force control system changes by environmental...
This paper presents an interaction control scheme for planar anthropomorphic robotic manipulators. Before starting the control phase, an a-priori trajectory is designed. The task is to follow the a-priori trajectory until a collision between the tip of the robot and an obstacle occurs. After the collision, once measured the contact force, the local properties of the obstacle surface in a vicinity...
Space exploitation will require efficient techniques for manipulating passive objects on orbit. This work presents a manipulation concept that utilizes both the on-off thrusters and manipulator proportional forces to manipulate passive objects on orbit more efficiently. The system dynamics arising from the unilateral constraints and the on-off thrusting are discussed. The manipulation concept is illustrated...
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