By Topic

On the stability of manipulators performing contact tasks

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

1 Author(s)
Hogan, N. ; Dept. of Mech. Eng., MIT, Cambridge, MA, USA

Manipulation requires contact with the object being manipulated, and the full potential of robots can only be realized when they are applied to contact tasks. One of the difficulties engendered by contact tasks is that they require intimate dynamic interaction between the robot and its environment. That interaction changes the performance of the robot and can jeopardize the stability of its control system. A discussion is presented of the problem of preserving the stability of a manipulator's control system during contact tasks. It will be shown that contact stability may be guaranteed if the control system provides the manipulator with an appropriately structured dynamic response to environmental inputs. Two aspects of one implementation of such a controller will be considered. Robustness to large errors in the manipulator kinematic equations and to unmodeled interface dynamics is shown

Published in:

Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 6 )