H. Lakhani et al., FORCE CONTROL OF KINEMATICALLY CONSTRAINED MECHANISMS IN THE PRESENCEOF CONTACT POINT DISTURBANCES, JSME international journal. Series C, mechanical systems, machine elements and manufacturing, 40(3), 1997, pp. 484-492
This paper presents a discussion of the issues related to force contro
l in closed-loop kinematically constrained mechanisms. Unlike many of
the analyses presented in robotics literature, which tend to model the
contact with a stiff, but finite, compliance, the analysis in this pa
per focuses on the issues particular to mechanisms in which the contac
t relationship is kinematic. Motions of these kinematically constraine
d points thus give rise to contact force fluctuations which are relate
d to both the inertial properties of the mechanism and the nonlinear k
inematics. By modelling the constrained system as a closed-loop mechan
ism, it is possible to take into account both the kinematic constraint
and the dynamic properties of the mechanism in order to derive force
control laws which can be used to regulate contact forces even in the
presence oi contact point disturbances. Simulations and experiments wi
th a simple one-link constrained mechanism underscore the importance o
f inertial force and contact point disturbance consideration in force
control.