NDLI: Nonlinear Bang-Bang Impact Control: A Seamless Control in All Contact Modes

Content Provider	IEEE Xplore Digital Library
Author	Maolin Jin Sang Hoon Kang Chang, P.H. Eunjeong Lee
Copyright Year	2005
Description	Author affiliation: Dept. of Mechanical Engineering Korea Advanced Institute of Science and Technology 373-1 Guseong-dong, Yuseong-gu, Daejeon 305-701, South Korea; mulan819@kaist.ac.kr (Maolin Jin)
Abstract	This paper presents stability analysis and experimental results of the nonlinear bang-bang impact controller for robotic manipulators. A stability condition has been derived based on the analysis in Ln ∞ space and its physical interpretation has been given. The analysis shows that the stability of nonlinear bang-bang impact control depends on sampling time and the accuracy of inertia estimation. Stability is enhanced with the decrease of changes in the Coriolis, centrifugal, and disturbance forces. The stability condition is verified by simulations and experiments. Experiments show that overall performance is comparable to or better than existing impact control techniques which employ more complicated control strategies.
Starting Page	557
Ending Page	564
File Size	402247
Page Count	8
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570177
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stability analysis Admittance Force control Space technology Robot control Orbital robotics Manipulators Impedance Mechanical engineering Sampling methods Ln ∞ stability Impact force control Impedance control Impedance/time-delay control Robot joint friction
Content Type	Text
Resource Type	Article

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