DocumentCode :
2037173
Title :
Stability analysis of nonlinear bang-bang impact control for a one degree of freedom robotic manipulator
Author :
Kang, Sang Hoon ; Chang, Pyung H. ; Lee, Eunjeong
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., South Korea
fYear :
2004
fDate :
3-5 June 2004
Firstpage :
84
Lastpage :
91
Abstract :
This paper presents a stability analysis of nonlinear bang-bang impact control for a one degree of freedom robotic manipulator based on an analysis in L2 space. The physical implications of sufficient stability conditions are explained in terms of sampling time, accuracy of inertia estimation, control gains, and rate of change in the Coriolis, centrifugal, and disturbance forces. The stability conditions are not stringent and are verified by simulations.
Keywords :
bang-bang control; gain control; manipulators; nonlinear control systems; stability; gain control; inertia estimation; nonlinear bang-bang impact control; robotic manipulator; stability analysis; Admittance; Delay effects; Force control; Force feedback; Manipulators; Orbital robotics; Robots; Sampling methods; Space technology; Stability analysis;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics, 2004. ICM '04. Proceedings of the IEEE International Conference on
Print_ISBN :
0-7803-8599-3
Type :
conf
DOI :
10.1109/ICMECH.2004.1364417
Filename :
1364417
Link To Document :
https://search.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=2037173
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