THE FUNOAMENTAL CONCEPTS OF ROBUST COMPLIANT MBTION FOR lRQBOT MANIPULATORS

'. W a t o r s are Sub lect to Interaction forces when they maneuver In a constfilned workspace. Our goal IS t o develop a method for the deslan of controllers of constralned man1 urntors In the- presence of model uncertalnties.?he controller must carru o t frne maneuvers When the manlpulator IS not constramed, and measurement, when the manlpulator IS constralned. R t the compliant motion. with or without Interactlorrfor-ce same tlme stabllit must be preserved if bounded uncertalntles are alfowed In modelllng the manlpuletors. Stabihty of the rnanlpulator and environment as a whole and the reservatlon of stabltlty In the face of chan es the design method. Ule start wl h conventtonal are two &&mental issues that have been considere8 In controller-desian speclflcatlons concemina the treatment of external +forces when the manlculator IS not when the rnanlpulator IS constralned, we state a set of constrained. Generalizing thls concept Po include cases ractical design speciflcstions In the frequency domain!hat IS meanlngful from the standpolnt of control theory and assures the desired compllant motlon In the Cartesian coordlnate frame and stablllt In the presence of bounded stabillty of the manlpulafor and its envlronrnent. Whfe thls uncertalnties. This ap r o a g also assures the lobal paper concerns the fundamentals o f compliant motion, part 2 of thls paper [Reference 24) IS devoted to the controller design method