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| Content Provider | IEEE Xplore Digital Library | 
|---|---|
| Author | Nakju Doh Gyudong Jeon Wan Kyun Chung Youngil Youm | 
| Copyright Year | 2000 | 
| Description | Author affiliation: Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea (Nakju Doh) | 
| Abstract | In this paper, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff. In contact transition, phase transition can be divided into two definitely different phases, "pre-transition phase" and "transition phase". Here we define the "pre-transition phase" and we propose three control methods. First, we propose a novel controller named as "suppression controller" which is not only stable but also simple to implement. Second, we present passive damper named as "flexible-damped joint" which is a good solution to circumvent the pre-transition phase. Third, we suggest a stable and simple controller which can maximize joint damping and minimize recontact velocity in the flexible-damped joint. It is named as "joint damping controller". The effectiveness of these three approaches are verified via experiments using the POSTECH 1-DOF DD arm. | 
| Starting Page | 2802 | 
| Ending Page | 2807 | 
| File Size | 471642 | 
| Page Count | 6 | 
| File Format | |
| ISBN | 0780358864 | 
| ISSN | 10504729 | 
| DOI | 10.1109/ROBOT.2000.846452 | 
| Language | English | 
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) | 
| Publisher Date | 2000-04-24 | 
| Publisher Place | USA | 
| Access Restriction | Subscribed | 
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) | 
| Subject Keyword | Phase control Damping Robots Equations Friction Biomechatronics Mechanical engineering Shock absorbers Force control Stability | 
| Content Type | Text | 
| Resource Type | Article | 
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software | 
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