BROWSE

Related Researcher

Author's Photo

Kang, Sang Hoon
Robotics and Rehab. Engineering Lab (R2EL)
Research Interests
  • Rehabilitation Robotics & Mechatronic Tools, Biomechanics for Rehabilitation, Human Limb Impedance Estimation, Assistive and Healthcare robotics, Robust Motion/Force Control

ITEM VIEW & DOWNLOAD

Stability of a robust interaction control for single-degree-of-freedom robots with unstructured environments

Cited 0 times inthomson ciCited 0 times inthomson ci
Title
Stability of a robust interaction control for single-degree-of-freedom robots with unstructured environments
Author
Kang, HyunahLee, Song JooKang, Sang Hoon
Issue Date
2020-07
Publisher
SPRINGER HEIDELBERG
Citation
INTELLIGENT SERVICE ROBOTICS, v.13, pp.393 - 401
Abstract
This paper provides stability analysis of a robust interaction control, nonlinear bang-bang impact control, for one degree-of-freedom robot manipulators. The interaction controller takes advantages of robot joint's friction that is not helpful for constrained space control usually, has no need to change gains throughout the tasks requiring free space motion, constrained motion, and the transition between the two, and needs virtually no information on robot dynamics for its design and implementation. Despite these advantages, to date, there was no complete and formal proof of its stability, hindering its practical use for interaction tasks requiring robots' frequent contact with various environments, including humans. A sufficient stability condition was derived based on the L-infinity space analysis with its physical implications. Stability condition was found to be only dependent on the intentional time delay for the online lumped robot dynamics estimation and the inertia estimation accuracy and was not dependent on the passive environment properties and disturbances. Interestingly, in the case of the nonlinear bang-bang impact control, joint frictions helped stabilize the robot during the transition from free space to constrained space.
URI
https://scholarworks.unist.ac.kr/handle/201301/32394
URL
https://link.springer.com/article/10.1007/s11370-020-00323-w
DOI
10.1007/s11370-020-00323-w
ISSN
1861-2776
Appears in Collections:
MNE_Journal Papers
Files in This Item:
There are no files associated with this item.

find_unist can give you direct access to the published full text of this article. (UNISTARs only)

Show full item record

qrcode

  • mendeley

    citeulike

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

MENU