Stable control of robotic manipulator with collision phenomena

A methodology using the Lyapunov direct method is proposed to analyze the stability of a 1-DOF (degree-of-freedom) manipulator system which is positioned against a deformable wall with collision phenomena. The stability and response of the system are examined by parameter studies of extensive numerical simulations. A Herz-type model with an energy loss parameter was adopted to express the impact force between the manipulator and the wall. Using this model, the stabilization effect of collision was demonstrated using a nonlinear Lyapunov function. The effect is confirmed by the simulation. Therefore, stable positioning of the manipulator against the deformable wall is possible