Cart (Loading....) | Create Account
Close category search window
 

Impact control of grasping [robot manipulators]

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Shoji, Y. ; Toyo Eng. Corp., Chiba, Japan ; Inaba, M. ; Fukuda, T.

The stabilization effect of collision in impact-controlled manipulator-object systems is discussed. The stability of system behavior is analyzed by the Lyapunov direct method. Some simulation results are shown to confirm the effect. Collision is one of the nonlinear problems where the dynamical structure changes. In industrial fields, the phenomenon is utilized effectively to suppress vibrations, but collision is a difficult problem to treat in the field of control because the methodology is mostly based on linear theory. The nonlinear impact force is modeled as a Hertz-type force with damping. A nonlinear matrix and a quadratic form is defined to examine system stability. As a results, stable control with collision phenomena is obtained

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:38 ,  Issue: 3 )

Date of Publication:

Jun 1991

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.