摘要：AbstractGiven the problem of static and dynamic contact stability of manipulators, this work extends classical hybrid force/motion control by introducing an additional feedback part to allow smooth environmental contact of the robot. The extension is the outcome of an in-depth stability analysis of velocity-controlled manipulators in passive environments and can be considered the first of its kind. In addition to this theoretical contribution, the application to a redundant 7-DoF robot confirms the achievable benefit compared to the classical implementation w.r.t. transient effects (like positional deviation or exerted force) in the event of an environmental contact.
