NDLI: Shared compliant control: a stability analysis and experiments

Content Provider	IEEE Xplore Digital Library
Author	Kim, W.S.
Copyright Year	1990
Description	Author affiliation: Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA (Kim, W.S.)
Abstract	Active compliance providing a damped spring for each Cartesian axis of a robot hand is implemented by low-pass-filtering the outputs of the force/torque sensors mounted on the robot hand and using these signals to alter the position commands. In this implementation, larger compliance needs higher feedback gain, which tends to destabilize the system. A graphical stability analysis based on Bode magnitude and phase plots is used to determine the maximum bandwidth of the low-pass filter for a given desired compliance value. This graphical method enables the stability region to be easily determined. This method is also applied to examine the stability of the shared compliant control in the presence of time delay in the feedback loop. Experimental results obtained from an implemented compliant robot hand agree well with those of the graphical method. The approach can be extended to investigate the stability of the force-reflecting system combined with shared compliant control.
Starting Page	620
Ending Page	623
File Size	384594
Page Count	4
File Format	PDF
ISBN	0879425970
DOI	10.1109/ICSMC.1990.142187
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1990-11-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stability analysis Robot sensing systems Springs Force sensors Torque Bandwidth Low pass filters Delay effects Feedback loop Force control
Content Type	Text
Resource Type	Article

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