Hostname: page-component-586b7cd67f-gb8f7 Total loading time: 0 Render date: 2024-11-27T22:17:56.048Z Has data issue: false hasContentIssue false
  • English
  • Français

Effect of joint stiffness on the dynamic stability of a one-link force-controlled manipulator

Published online by Cambridge University Press:  09 March 2009

Bing C. Chiou  and
M. Shahinpoor
Bing C. Chiou
Affiliation:
Department of Mechanical Engineering, University of New Mexico Albuquerque, NM 87131 (USA)
M. Shahinpoor
Affiliation:
Department of Mechanical Engineering, University of New Mexico Albuquerque, NM 87131 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

Studies are the effects of joint flexibility on the dynamic stability of a one-link force-controlled manipulator. The closed-loop dynamic equation with the explicit force controller and the damping force controller are first derived. Stability analysis is then carried out by computing the system eigenvalues. Results indicate a conditionally stable system. Due to the presence of discontinuous contacts with the environment during the interaction process, the system exhibits a stable limit cycle when the force feedback gain goes beyond the critical value.

Keywords

Joint stiffnessdynamic stabilityone-linkforce-controlledmanipulator
Type
Research Article
Information
Robotica , Volume 7 , Issue 4 , October 1989 , pp. 339 - 342
Copyright
Copyright © Cambridge University Press 1989

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Whitney, D.E., “Historical Perspective and State of the Art in Robot Force Control” Proceedings of International Conference on Robotics and Automation, IEEE, 262–268 (03 1985).Google Scholar
2.Starr, G.P., “Edge-Following with a PUMA 560 Manipulator Using VAL-II” Proceedings of International Conference on Robotics and Automation, IEEE,379–383 (04 1986).Google Scholar
3.Paul, R.P., “Problems and Research Issues Associated with the Hybrid Control of Force and Displacement” Proceedings of International Conference on Robotics and Automation, IEEE, 1966–1971 (03 1987).Google Scholar
4.Shahinpoor, M., A Robot Engineering Textbook (Harper and Row Publishers, New York, London, 1987).Google Scholar
5.Chiou, B.C. and Shahinpoor, M., “Dynamic Stability Analysis of A One-Link Force-Controlled Flexible Manipulator” Robotic Systems 5(5), 443–451 (1988).CrossRefGoogle Scholar
6.Anderson, G.L., “Stability of a Manipulator with Resilient Joints” J. Sound and Vibrations 101, No. 4, 463–480 (1985).CrossRefGoogle Scholar
7.An, C.H. and Hollerbach, J.M., “Dynamic Stability Issues in Force Control of Manipulators” Proceedings of International Conference on Robotics and Automation, IEEE890–896 (03 1987).Google Scholar
8.An, C.H. and Hollerbach, J.M., “Kinematic Stability Issues in Force Control of Manipulators” Proceedings of International Conference on Robotics and Automation, IEEE897–903 (03 1987).Google Scholar
9.Roberts, R.K., Paul, R.P., and Hillberry, B.M., “The Effect of Wrist Sensor Stiffness on the Control of Robot Manipulators” Proceedings of International Conference on Robotics and Automation, IEEE269–274 (03 1985).Google Scholar
10.Townsend, W.T. and Salisbury, J.K. Jr., “The Effect of Coulomb Friction and Stiction on Force Control” Proceedings of International Conference on Robotics and Automation, IEEE883–889 (03 1987).Google Scholar
11.Eppinger, S.D. and Seering, W.P., “On Dynamic Models of Robot Force Control” Proceedings of International Conference on Robotics and Automation, IEEE04 1986, 29–34 (04 1986).Google Scholar
12.Eppinger, S.D. and Seering, W.P., “Understanding Bandwidth Limitations in Robot Force Control” Proceedings of International Conference on Robotics and Automation, IEEE904–909 (03 1987).Google Scholar
13.Craig, J.J., Introduction to Robotics, Mechanics & Control (Addison Wesley Publishing Company, Reading, Massachusetts, 1986).Google Scholar