Design and experimentation of a jump impact controller

Author

Chiu, David K. ; Lee, Sukhan

Author_Institution

Dept. of Electr. Eng. Syst. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA

Volume

17

Issue

3

fYear

1997

fDate

6/1/1997 12:00:00 AM

Firstpage

99

Lastpage

106

Abstract

An impact/force controller known as jump impact controller (JIC) is designed and evaluated experimentally. JIC is derived by representing dynamics of collision in terms of a jump linear system where the jumps of system dynamics can be described by a state-dependent stochastic process. Thus, JIC provides robustness to the uncertainties in the environment dynamics as well as the location of the collision surface. The experimental results not only demonstrate the robustness of JIC but also help explain and interpret how robustness is associated with the JIC theory in terms of such known concepts as approach velocity and control system bandwidth

Keywords

force control; manipulator dynamics; piecewise-linear techniques; robust control; stochastic processes; uncertain systems; approach velocity; collision dynamics; collision surface location uncertainty; control system bandwidth; environment dynamics uncertainties; impact/force controller; jump impact controller; jump linear system; manipulators; robustness; state-dependent stochastic process; Control systems; Force control; Linear systems; Optimal control; Robust control; Robustness; Soldering; Steady-state; Uncertainty; Velocity control;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.588216

Filename

588216