Bifurcations caused by sampling effects in robotic force control

Gábor Stépan, László L. Kovács, József Kövecses

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The empirically developed force control in cases of the robotic polishing and the rehabilitation robots serve as a motivation for the study of the peculiar dynamic behaviour of digital force control. The effect of the sampling times of the digital controllers are studied analytically, and the corresponding stability charts are presented for different gain and mechanical parameters describing also the different sampling frequencies at the force sensors and in the digital control loop. The types of bifurcations are also identified at the stability limits. As one of the practical conclusions, the negative role of differential gain is explained in digital force control.

Original languageEnglish
Title of host publicationIUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures - Proceedings of the IUTAM Symposium
PublisherSpringer Verlag
Pages331-341
Number of pages11
ISBN (Print)1402041608, 9781402041600
DOIs
Publication statusPublished - 2005
EventIUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures - Munich, Germany
Duration: Jul 18 2005Jul 22 2005

Publication series

NameSolid Mechanics and its Applications
Volume130
ISSN (Print)1875-3507

Other

OtherIUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures
CountryGermany
CityMunich
Period7/18/057/22/05

Keywords

  • Delayed oscillator
  • Differential gain
  • Force controlled robots

ASJC Scopus subject areas

  • Civil and Structural Engineering
  • Automotive Engineering
  • Aerospace Engineering
  • Acoustics and Ultrasonics
  • Mechanical Engineering

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  • Cite this

    Stépan, G., Kovács, L. L., & Kövecses, J. (2005). Bifurcations caused by sampling effects in robotic force control. In IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures - Proceedings of the IUTAM Symposium (pp. 331-341). (Solid Mechanics and its Applications; Vol. 130). Springer Verlag. https://doi.org/10.1007/1-4020-4161-6_30