Title :
Contact instability of the direct drive robot when constrained by a rigid environment
Author_Institution :
Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
fDate :
6/1/1990 12:00:00 AM
Abstract :
A sufficient condition for the stability of robot manipulators in constrained maneuvers is derived. Attention is focused on the class of direct drive robots whose rigid links dominate the robot´s dynamic behavior; compared to the robot, the environment is assumed to be infinitely rigid. The stability of the manipulator-environment system is investigated, and a bound for stable manipulation is determined. This bound is verified via simulation and experiment on the Minnesota direct drive robot
Keywords :
robots; stability; Minnesota direct drive robot; constrained maneuvers; contact instability; dynamic behavior; rigid environment; Force control; Jacobian matrices; Manipulators; Orbital robotics; Robot kinematics; Robotic assembly; Stability analysis; Sufficient conditions; Torque control; Velocity control;
Journal_Title :
Automatic Control, IEEE Transactions on
