Kinematic stability of robot manipulators under force control
- 7 January 2003
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
The author investigates the kinematic instability problem associated with some well-known force control approaches. His intent is to establish qualitative evaluations of the stability of hybrid control and stiffness control. He first constructs a state-space model and then demonstrates the kinematic stability or instability of the two force control formulations by making use of a necessary and sufficient condition for a multivariate linear system. The author also discusses issues such as critical damping in stable force control approaches and stabilizing measures for unstable force control methodsKeywords
This publication has 3 references indexed in Scilit:
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