Title :
Stability considerations for a two-link force-controlled flexible manipulator
Author :
Chiou, B.C. ; Shahinpoor, M.
Author_Institution :
Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
Abstract :
The effect of link flexibility on the dynamic stability of a two-link force-controlled robot manipulator is investigated. Assuming that the contact point is locked, the nonlinear open-loop equations for the compliant motion are derived. By using the hybrid force-position control law, the closed-loop dynamic equations are explicitly derived and linearized about some equilibrium configuration. Stability analyses are carried out by computing the eigenvalues of the linearized system equations. Results are verified by numerical simulations using the complete nonlinear dynamic equations. The effect of the wrist force sensor stiffness on the dynamic stability is also investigated. Results show that the link flexibility is an important source of dynamic instability in the motion of force-controlled manipulators. Moreover, the system stability is dominated by the effect of the distributed flexibility of the first link
Keywords :
distributed parameter systems; force control; large-scale systems; linearisation techniques; position control; robots; stability; closed-loop dynamic equations; compliant motion; distributed flexibility; dynamic instability; dynamic stability; eigenvalues; hybrid force-position control law; linearization; locked contact point; nonlinear open-loop equations; numerical simulations; robot manipulator; stability analyses; two-link force-controlled flexible manipulator; wrist force sensor stiffness; Eigenvalues and eigenfunctions; Force control; Manipulator dynamics; Nonlinear dynamical systems; Nonlinear equations; Numerical simulation; Open loop systems; Robots; Stability analysis; Wrist;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126072
