On the Robot Compliant Motion Control

The work presented here is a nonlinear approach for the control and stability analysis of manipulative systems in compliant maneuvers. The general stability condition has been extended to the particular case where the environment is very rigid in comparison with the robot stiffness. A fast, light-weight, active end-effector (a miniature robot) which can be attached to the end-point of large commercial robots has been designed and built to verify the control method

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