• DocumentCode
    2037173
  • Title

    Stability analysis of nonlinear bang-bang impact control for a one degree of freedom robotic manipulator

  • Author

    Kang, Sang Hoon ; Chang, Pyung H. ; Lee, Eunjeong

  • Author_Institution
    Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., South Korea
  • fYear
    2004
  • fDate
    3-5 June 2004
  • Firstpage
    84
  • Lastpage
    91
  • Abstract
    This paper presents a stability analysis of nonlinear bang-bang impact control for a one degree of freedom robotic manipulator based on an analysis in L2 space. The physical implications of sufficient stability conditions are explained in terms of sampling time, accuracy of inertia estimation, control gains, and rate of change in the Coriolis, centrifugal, and disturbance forces. The stability conditions are not stringent and are verified by simulations.
  • Keywords
    bang-bang control; gain control; manipulators; nonlinear control systems; stability; gain control; inertia estimation; nonlinear bang-bang impact control; robotic manipulator; stability analysis; Admittance; Delay effects; Force control; Force feedback; Manipulators; Orbital robotics; Robots; Sampling methods; Space technology; Stability analysis;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Mechatronics, 2004. ICM '04. Proceedings of the IEEE International Conference on
  • Print_ISBN
    0-7803-8599-3
  • Type

    conf

  • DOI
    10.1109/ICMECH.2004.1364417
  • Filename
    1364417
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2037173