An analysis of contact instability in terms of passive physical equivalents Export

@inproceedings{citeulike:3501883, abstract = {The authors explore the sources of and solutions to robot contact instability associated with force feedback. The behavior of several linear robot models is analyzed in terms of the properties of their admittances. Using the novel technique of passive physical equivalents, an explanation for the often-observed instability of a force-controlled robot contacting a stiff surface is offered, and it is shown that a fundamental limit exists to the efficacy of any force feedback controller implemented on a robot with noncolocated actuators and sensors. Suggestions for improved force control involving both mechanical design and compensator design are also presented}, author = {Colgate, E. and Hogan, N.}, booktitle = {Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on}, citeulike-article-id = {3501883}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/ROBOT.1989.100021}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=100021}, day = {06}, doi = {10.1109/ROBOT.1989.100021}, journal = {Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on}, keywords = {contact, instability}, month = {August}, pages = {404--409 vol.1}, posted-at = {2008-11-10 22:19:36}, priority = {0}, title = {An analysis of contact instability in terms of passive physical equivalents}, url = {http://dx.doi.org/10.1109/ROBOT.1989.100021}, year = {2002} }

TY - CONF ID - citeulike:3501883 L3 - citeulike-article-id:3501883 N2 - The authors explore the sources of and solutions to robot contact instability associated with force feedback. The behavior of several linear robot models is analyzed in terms of the properties of their admittances. Using the novel technique of passive physical equivalents, an explanation for the often-observed instability of a force-controlled robot contacting a stiff surface is offered, and it is shown that a fundamental limit exists to the efficacy of any force feedback controller implemented on a robot with noncolocated actuators and sensors. Suggestions for improved force control involving both mechanical design and compensator design are also presented JF - Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on EP - 409 vol.1 TI - An analysis of contact instability in terms of passive physical equivalents T2 - Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on SP - 404 KW - contact KW - instability AU - Colgate, E AU - Hogan, N PY - 2002/08/06/ UR - http://dx.doi.org/10.1109/ROBOT.1989.100021 ER -