DocumentCode :
2540784
Title :
Kinematic stability issues in force control of manipulators
Author :
An, Chae H. ; Hollerbach, John M.
Author_Institution :
IBM T.J.Watson Research Center, Yorktown Heights, NY
Volume :
4
fYear :
1987
fDate :
31837
Firstpage :
897
Lastpage :
903
Abstract :
In active force or compliance implementations for multi-link manipulators, there is typically a kinematic coordinate transformation in the feedback path. A coordinate transformation will affect the dynamics of the closed-loop system and possibly make it unstable. It is shown that the hybrid force/position control method of Raibert and Craig (1981) exhibits such kinematically induced instabilities for revolute manipulators, whereas other force control methods, such as the stiffness control and the operational space methods, do not. Both theoretical analyses and experimental results on the MIT Serial Link Direct Drive Arm are given.
Keywords :
Acceleration; Artificial intelligence; Force control; Force feedback; Kinematics; Laboratories; Manipulator dynamics; Position control; Stability; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type :
conf
DOI :
10.1109/ROBOT.1987.1087933
Filename :
1087933
Link To Document :
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