Author(s)

Y. Ohkami, S. Matsunaga & H. Lakhani

Abstract

It is envisioned that in the future long-arm manipulators such as the Space Shuttle RMS and the ETS-VII Remote Manipulator Arm will be required to perform various types of constrained motion tasks, such as work-surface inspection, assembly, and cleanup. In the presence of contact point disturbances, due to either unknown contour profiles or movement of the work surface relative to the robot, the robot must ensure a minimum amount of contact force error while at the same time maintaining the desired constraint. This paper discusses the disturbance rejection properties of several commonly-used explicit force control strategies and highlights the control issues particular to force control of kinematically constrained mec

Keywords