Dynamics modeling and stability of robotic systems with discrete-time force control

József Kövecses, László L. Kovács, Gábor Stépán

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

This paper investigates the dynamic behavior of robotic echanical systems with discrete-time force control. Force control is associated with the constrained motion of a mechanical system. A novel approach is presented to analyze the stability and performance based on the separation of constrained and admissible motions. This results in a model representing the dynamics of the constrained motion of the system. The analysis connects the complex nonlinear model of a mechanical system to a set of abstract delayed oscillators. These oscillator models make it possible to perform a detailed closed-form mathematical analysis of the stability behavior. A planar two-degree-of-freedom (DoF) mechanism is presented as an example to illustrate the material. Results are illustrated by stability charts in the parameter space of mechanical parameters, control gains and the sampling rate.

Original languageEnglish
Pages (from-to)293-299
Number of pages7
JournalArchive of Applied Mechanics
Volume77
Issue number5
DOIs
Publication statusPublished - May 1 2007

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Keywords

  • Constrained motion
  • Digital force control
  • Multi-body systems
  • Stability

ASJC Scopus subject areas

  • Mechanical Engineering

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