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Effect of joint stiffness on the dynamic stability of a one-link force-controlled manipulator

Published online by Cambridge University Press:  09 March 2009

Bing C. Chiou  and
M. Shahinpoor
Bing C. Chiou
Affiliation:
Department of Mechanical Engineering, University of New Mexico Albuquerque, NM 87131 (USA)
M. Shahinpoor
Affiliation:
Department of Mechanical Engineering, University of New Mexico Albuquerque, NM 87131 (USA)
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Summary

Studies are the effects of joint flexibility on the dynamic stability of a one-link force-controlled manipulator. The closed-loop dynamic equation with the explicit force controller and the damping force controller are first derived. Stability analysis is then carried out by computing the system eigenvalues. Results indicate a conditionally stable system. Due to the presence of discontinuous contacts with the environment during the interaction process, the system exhibits a stable limit cycle when the force feedback gain goes beyond the critical value.

Keywords

Joint stiffnessdynamic stabilityone-linkforce-controlledmanipulator
Type
Research Article
Information
Robotica , Volume 7 , Issue 4 , October 1989 , pp. 339 - 342
Copyright
Copyright © Cambridge University Press 1989

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