A Natural Framework for Designing Bounce-less Controller for Robotic Contact Tasks

In robotic tasks where the manipulator has to make transition from free space motion to constrained one, there always exists a inevitable phase transition. A number of controllers have been proposed in the literature with various discussions on their practical implications. In this paper for the rst time a novel framework for studying design of controllers for robotic contact tasks problem is proposed. This framework presents a natural set-up to study the performance of controller. The method of this paper combines the embedded passive compliant properties of the interacting system (i.e. manipulator and the contacting environment) with the basic controller to achieve the hybrid bounce-less property. Here the interacting environment is used as a natural switching surface for the discontinuous controller. The application of the proposed framework is demonstrated through experimental results.