The motion-force dynamics equivalence in the control of robot interacting with dynamic environment

The control laws for a robot interacting with dynamic environment based on the necessary and sufficient conditions for asymptotic stability have been considered in the paper. The system (robot and environment) dynamics is represented in the state space with generalized coordinates and velocities as state variables and controlled forces as output variables. The class of all asymptotically stable motions in closed loop is mapped into a class of corresponding stable force transients. The inverse mapping technique is used to map specified (stable) force dynamics into appropriate computed torque based control laws.