期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2013
卷号：7
期号：4
页码：21
DOI：10.14313/JAMRIS_4-2013/21
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：Modern roboƟc systems are able to localize doors andits handle or knob, grasp the handle and open the door.Service robots need to open doors and drawers to autonomouslyoperate in human environment. The mechanicalproperƟes of doors lead to incorporaƟon of forceand velocity constraints into the control law, to avoid theenvironment damage. In the arƟcle the impedance controllaw was expanded with these factors to achieve safebehavior of direct (explicit) posiƟon-force controller ofKUKA LWR4+ robot that opens the door.
