Stability analysis of position and force control problems for robot armsStability issues involving the control of a robot arm under the influence of external forces are discussed. Several different scenarios are considered: position control with the external force as an unmodeled disturbance, compliant control for a bounded external force in some subspace, and compliant control for a force due to the interaction with an environment whose dynamical behavior can be modeled. In each of these cases, a stability analysis using the Lyapunov method is presented. An explanation of instability is put forth for the case in which the environment has flexibility and the gains are inappropriately chosen. When the environment is stiff in the force control subspace, robust stability can be achieved with the integral force feedback.
Document ID
19910045598
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Wen, John T. (Rensselaer Polytechnic Inst. Troy, NY, United States)
Murphy, Steve (Rensselaer Polytechnic Institute, Troy, NY, United States)