Stable contact control of multi-degrees-of-freedom linear manipulator with collision phenomena

A methodology using the Lyapunov direct method is proposed to analyze the stability of an n-D.O.F. linear manipulator system which is positioned on a flexible wall with collision phenomenon. A methodology to determine the control law of the manipulator which guarantees the system stability is also discussed. As collision is a phenomenon with energy dissipation, it is used in the field of industry for such purposes that suppress vibrations. On the other hand, in the field of robotics, the phenomenon is considered to be avoided, because the controllability of the system becomes poorer at contact. But in the case that the demands for fast tasks against environment increases, collision becomes the problem which should be solved. In previous reports, some approaches using the Lyapunov method were discussed. This report expands the manipulator complexity to n-DOF and proves the stability of the system even including collision. Some numerical simulations were also executed to show the transient behavior of the system and to compare with the result of the theoretical analysis