On force measurements time-delays in control of constrained manipulators
Résumé
In this note we consider stability issues of manipulators in contact with a rigid environment (i.e. submitted to holonomic kinematic constraints) when the interaction force feedback loop contains time-delays. Sufficient conditions (delay-dependent) are derived to guarantee that the robot's tip remains in contact with the surface. These conditions are found by taking into account the fact that due to unilateral nature of the constraints, the interaction force must have constant sign during the whole task. We analyze the cases of proportional and proportional-integral force-feedback.