Analysis of contact instability in terms of passive physical equivalents

Ed Colgate*, Neville Hogan

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

169 Scopus citations

Abstract

The authors explore the sources of and solutions to robot contact instability associated with force feedback. The behavior of several linear robot models is analyzed in terms of the properties of their admittances. Using the novel technique of passive physical equivalents, an explanation for the often-observed instability of a force-controlled robot contacting a stiff surface is offered, and it is shown that a fundamental limit exists to the efficacy of any force feedback controller implemented on a robot with noncolocated actuators and sensors. Suggestions for improved force control involving both mechanical design and compensator design are also presented.

Original languageEnglish (US)
Title of host publicationIEEE Int Conf Rob Autom 1989
Editors Anon
PublisherPubl by IEEE
Pages404-409
Number of pages6
StatePublished - Dec 1 1989
EventIEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA
Duration: May 14 1989May 19 1989

Other

OtherIEEE International Conference on Robotics and Automation - 1989
CityScottsdale, AZ, USA
Period5/14/895/19/89

ASJC Scopus subject areas

  • Engineering(all)

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