Title :
Contact transition stability in the impedance control
Author_Institution :
Fraunhofer Inst. for Production Syst. & Design Technol., Berlin, Germany
Abstract :
Contact stability has been considered based on simplified linearized models of a robot and its environment. It is shown that the most crucial parameter for contact stability is the target damping ratio. When a high compliance is required, the stability boundary requires a significantly overdamped impedance to ensure a stable contact with a stiff environment. These conditions for a SISO system are defined in the analytic form. Obtained minimal damping ratio values are significantly lower than those previously proposed in the literature.
Keywords :
"Force control","Motion analysis","Service robots","Motion control","Damping","Control systems","Surface impedance","Manipulators","Stability criteria","Robot control"
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620140
