Title :
On the stability of a simple contact-non contact robotic task
Author :
Brogliato, B. ; Orhant, P.
Author_Institution :
Lab. d´´Autom., CNRS, St. Martin d´´Heres, France
Abstract :
The goal of this study is to point out some problems related with stabilization of motion-controlled manipulators that come in contact with a compliant environment, in particular the sufficient conditions guaranteeing asymptotic convergence of the solutions towards the steady-state solution. The authors restrict themselves to a simple PD motion controller, and to the case of a purely elastic environment
Keywords :
convergence; feedback; manipulators; motion control; asymptotic convergence; compliant environment; contact-noncontact robotic task; motion-controlled manipulators; purely elastic environment; simple PD motion controller; stability; steady-state solution; sufficient conditions; Asymptotic stability; Feedback; Friction; Motion control; PD control; Page description languages; Robots; Springs; State-space methods; Steady-state;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411456
