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force-controlled

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1 results

Effect of joint stiffness on the dynamic stability of a one-link force-controlled manipulator
Bing C. Chiou, M. Shahinpoor
Journal:

Robotica / Volume 7 / Issue 4 / October 1989

Published online by Cambridge University Press:

09 March 2009, pp. 339-342
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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.