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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

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Experimental verification on the robustness and stability of an interaction control: Single-degree-of-freedom robot case

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Title
Experimental verification on the robustness and stability of an interaction control: Single-degree-of-freedom robot case
Author
Park, Sang HyunSon, JeongwooJin, MaolinKang, Sang Hoon
Issue Date
2021-05
Publisher
WILEY
Citation
ELECTRONICS LETTERS, v.57, no.11, pp.433 - 435
Abstract
The nonlinear bang-bang impact control (NBBIC) had been proposed for robots performing tasks having frequent contact with different environments because it takes advantage of the frictions in robot joints that are not helpful for constrained space control usually, does not need to change gains throughout tasks, and requires little information on robot dynamics. Despite these advantages, due to the lack of stability proof, it was not widely adopted. Recently, the stability of the NBBIC for one degree-of-freedom (DOF) robot has been proved almost two decades after its first proposal. The stability condition provided a theoretical stable region of the inertia estimate and was not dependent on environment dynamics, indicating the robustness of NBBIC to environment dynamics (e.g. stiffness). Thus, there is a strong need to verify the stability condition and the robustness of NBBIC to environment dynamics. Experiments of single DOF robots colliding with various environments showed that the stability condition predicted the stable range of the inertia estimate well, though there was a reduction in upper-bound because of sensor noise. The impact force response did not vary significantly for environments with different stiffness (silicon, aluminium, and steel wall), thereby confirming the robustness of the NBBIC to environment dynamics.
URI
https://scholarworks.unist.ac.kr/handle/201301/52998
URL
https://ietresearch.onlinelibrary.wiley.com/doi/10.1049/ell2.12151
DOI
10.1049/ell2.12151
ISSN
0013-5194
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