[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-83507-en":3,"doc-seo-83507-105":29,"detail-sidebar-cat-0-en-105":90},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":4,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":21,"language":22,"language_code":23,"site_id":24,"html_lang":23,"table_of_contents":25,"faqs":26,"seo_title":13,"seo_description":14,"update_tm":27,"read_time":28},83507,549758146520,"Patrick","https://ap-avatar.wpscdn.com/avatar/80002397d8c0411e94?_k=1775819394049821470",8,"Research & Report","Enhancing Robustness in Robot-Environment Interactions through Passive Compliant Degrees of Freedom","Robot-environment interactions in dynamic or unstructured settings often degrade due to impact shocks, vibrations, and uncertainties in contact geometry and mechanical properties. The paper introduces a hybrid position-force control architecture using feedback linearization, augmented with a passive compliant degree of freedom at the end-effector. A spring-damper interface stores and dissipates impact energy at contact, limiting propagation of high-frequency shocks to actuated joints and the force-control loop. MATLAB/Simulink evaluation on a 2-DOF planar manipulator compares rigid, spring-only, and spring-damper configurations under fixed and time-varying interactions, showing reduced force/velocity error variance and smoother torque response, with reported error-standard-deviation decreases of 36.5%, 25.4%, and 41.1%.","Enhancing Robustness in Robot-Environment Interactions through Passive Compliant Degrees of Freedom: A Hybrid Position-Force Control Approach with Feedback Linearization  \n1st Rahman Ardakanian  \nDepartment of Mechanical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran  \nardakanian.rahman@mail. [um.ac.ir](um.ac.ir)  \n2nd Iman Kardan,  \nCenter of Advanced Rehabilitation and Robotics Research, Department of Mechanical Engineering, Ferdowsi University of Mashhad Mashhad, Iran  \n[iman.kardan@um.ac.ir](iman.kardan@um.ac.ir)  \n3rd AliAkbar Akbari  \nDepartment of Mechanical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran  \n[akbari@um.ac.ir](akbari@um.ac.ir)  \n4th Ali Mousavi  \nDepartment of Computer Engineering, Ne. C, Islamic Azad University, Neyshabur, Iran  \n[mousavi@iau.ac.ir](mousavi@iau.ac.ir)  \nAbstract-Robot-environment interactions in dynamic or unstructured settings are often degraded by impact shocks, vibrations, and uncertainties in contact geometry and mechanical properties. This paper proposes an interaction architecture that combines feedback-linearized hybrid position-force control with a passive compliant degree of freedom embedded at the end-effector. Unlike conventional hybrid position-force control, which relies mainly on active feedback, force sensing, and gain tuning, the proposed architecture uses a physical spring-damper interface to store and dissipate impact energy at the contact point before high-frequency shocks propagate to the actuated joints and force-control loop. The approach is evaluated in MATLAB/Simulink on a 2-DOF planar manipulator with three end-effector configurations: rigid, spring-only, and spring-damper. Results under fixed and time-varying interaction conditions show that the spring-damper configuration provides stronger attenuation of contact-induced oscillations, lower force and velocity error variance, and smoother joint-torque response. Representative reductions include 36.5% in fixed-environment tangential force-error standard deviation, 25.4% in variable-environment normal force-error standard deviation, and 41.1% invariable-environment normal velocity-error standard deviation.  \nKeywords-Hybrid position-force control, feedback linearization, passive degree of freedom, shock mitigation, robot-environment interaction.  \nI. INTRODUCTION  \nRobot-environment interaction lies at the core of modern robotic applications such as assembly, polishing, surface finishing, surgery, and human-robot collaboration. In these tasks, the robot must not only follow precise trajectories but also regulate the forces it applies to its surroundings. However, uncertainties in mechanical properties and surface geometry make this interaction inherently difficult. Even small mismatches between expected and actual contact conditions can lead to inaccurate force regulation or severe impact shocks, raising concerns about safety, performance, and long-term durability of the robot and its environment.  \nClassical position control performs exceptionally well in free space, offering accurate trajectory tracking and simplicity in implementation. Yet, once the manipulator encounters constraints, its inability to regulate contact forces may result in large impacts or unstable behaviors. Conversely, force control focuses on regulating interaction forces through sensory feedback, but it offers no guarantee of maintaining the desired position along unconstrained directions. This fundamental trade-off motivated the development of hybrid position-force control, pioneered by Raibert and Craig [3], which allocates motion control to unconstrained task directions and force control to constrained ones. While this hybrid paradigm has become a standard for interacting robots, it still suffers from practical  \nshortcomings when exposed to uncertainties or abrupt impacts.  \nA parallel and influential research line emphasizes passivity-based control, originally formalized by Ortega and Spong [1], which frames stabil","cbCaivVjkByP248R","https://ap.wps.com/l/cbCaivVjkByP248R","pdf",2239743,1,18,"English","en",105,"# Introduction\n## Challenges in robot-environment interaction\n## Position vs. force control trade-off\n## Passivity-based and compliance-aware approaches\n## Impedance/admittance and feedback linearization","[{\"question\":\"What problem does the paper address in robot-environment interaction?\",\"answer\":\"It addresses performance degradation caused by impact shocks, vibrations, and uncertainties in contact geometry and mechanical properties, which can lead to inaccurate force regulation and unstable behavior.\"},{\"question\":\"How does the proposed method improve robustness?\",\"answer\":\"It combines feedback-linearized hybrid position-force control with a passive compliant degree of freedom (a spring-damper interface) at the end-effector to store and dissipate impact energy at the contact point.\"},{\"question\":\"How was the approach evaluated and what configuration performed best?\",\"answer\":\"The method was tested in MATLAB/Simulink on a 2-DOF planar manipulator using rigid, spring-only, and spring-damper end-effector configurations. The spring-damper configuration provided the strongest attenuation of contact-induced oscillations and smoother joint-torque response, with significant reductions in force and velocity error variance under fixed and time-varying conditions.\"}]",1784188519,45,{"code":4,"msg":30,"data":31},"ok",{"site_id":24,"language":23,"slug":32,"title":13,"keywords":33,"description":14,"schema_data":34,"social_meta":85,"head_meta":87,"extra_data":89,"updated_unix":27},"enhancing-robustness-in-robot-environment-interactions-through-passive-compliant-degrees-of-freedom","",{"@graph":35,"@context":84},[36,53,67],{"@type":37,"itemListElement":38},"BreadcrumbList",[39,43,47,50],{"item":40,"name":41,"@type":42,"position":20},"https://docshare.wps.com","Home","ListItem",{"item":44,"name":45,"@type":42,"position":46},"https://docshare.wps.com/document/","Document",2,{"item":48,"name":12,"@type":42,"position":49},"https://docshare.wps.com/document/research-report/",3,{"item":51,"name":13,"@type":42,"position":52},"https://docshare.wps.com/document/enhancing-robustness-in-robot-environment-interactions-through-passive-compliant-degrees-of-freedom/83507/",4,{"url":51,"name":13,"@type":54,"author":55,"headline":13,"publisher":57,"fileFormat":60,"inLanguage":23,"description":14,"dateModified":61,"datePublished":61,"encodingFormat":60,"isAccessibleForFree":62,"interactionStatistic":63},"DigitalDocument",{"name":9,"@type":56},"Person",{"url":40,"name":58,"@type":59},"DocShare","Organization","application/pdf","2026-07-16",true,{"@type":64,"interactionType":65,"userInteractionCount":4},"InteractionCounter",{"@type":66},"ViewAction",{"@type":68,"mainEntity":69},"FAQPage",[70,76,80],{"name":71,"@type":72,"acceptedAnswer":73},"What problem does the paper address in robot-environment interaction?","Question",{"text":74,"@type":75},"It addresses performance degradation caused by impact shocks, vibrations, and uncertainties in contact geometry and mechanical properties, which can lead to inaccurate force regulation and unstable behavior.","Answer",{"name":77,"@type":72,"acceptedAnswer":78},"How does the proposed method improve robustness?",{"text":79,"@type":75},"It combines feedback-linearized hybrid position-force control with a passive compliant degree of freedom (a spring-damper interface) at the end-effector to store and dissipate impact energy at the contact point.",{"name":81,"@type":72,"acceptedAnswer":82},"How was the approach evaluated and what configuration performed best?",{"text":83,"@type":75},"The method was tested in MATLAB/Simulink on a 2-DOF planar manipulator using rigid, spring-only, and spring-damper end-effector configurations. 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