Dynamics of digital force control

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

Abstract

When a robot has to interact with the environment, force control of the contact between its actuator and the workpiece may be required. Force control tries to maintain prescribed contact force. Basic text books often call the attention for the destabilizing digital effects, like sampling, in these systems. In this paper, the stability limits are presented in the parameter space of the sampling time, control gains and mechanical parameters. The least force error and the fastest settling force signal is calculated with simple closed form formulae. These analytical results have a central role in understanding the technical phenomena and in forming the common sense in design work.

Original languageEnglish
Title of host publicationProceedings of the Conference on Mechanical Engineering
Editors Anon
PublisherTechnical Univ of Budapest
Pages414-418
Number of pages5
Volume1
Publication statusPublished - 1998
EventProceedongs of the 1998 1st Conference on Mechanical Engineering, GEPESZET'98. Part 1 (of 2) - Budapest, Hungary
Duration: May 28 1998May 29 1998

Other

OtherProceedongs of the 1998 1st Conference on Mechanical Engineering, GEPESZET'98. Part 1 (of 2)
CityBudapest, Hungary
Period5/28/985/29/98

Fingerprint

Force control
Sampling
Gain control
Actuators
Robots

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Stépán, G. (1998). Dynamics of digital force control. In Anon (Ed.), Proceedings of the Conference on Mechanical Engineering (Vol. 1, pp. 414-418). Technical Univ of Budapest.

Dynamics of digital force control. / Stépán, G.

Proceedings of the Conference on Mechanical Engineering. ed. / Anon. Vol. 1 Technical Univ of Budapest, 1998. p. 414-418.

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

Stépán, G 1998, Dynamics of digital force control. in Anon (ed.), Proceedings of the Conference on Mechanical Engineering. vol. 1, Technical Univ of Budapest, pp. 414-418, Proceedongs of the 1998 1st Conference on Mechanical Engineering, GEPESZET'98. Part 1 (of 2), Budapest, Hungary, 5/28/98.
Stépán G. Dynamics of digital force control. In Anon, editor, Proceedings of the Conference on Mechanical Engineering. Vol. 1. Technical Univ of Budapest. 1998. p. 414-418
Stépán, G. / Dynamics of digital force control. Proceedings of the Conference on Mechanical Engineering. editor / Anon. Vol. 1 Technical Univ of Budapest, 1998. pp. 414-418
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