Time-optimal computed-torque control in contact transitions

Bálint Magyar, G. Stépán

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

The simple mechanical model of an approach-and-touch control procedure is discussed. The aim is to find an appropriate control strategy to approach the target surface, handle the contact transitions and apply the desired force on the contact surface. In the control loop, position and force feedback is present; the absolute position of the target surface is only available for the controller with limited accuracy.

Original languageEnglish
Pages (from-to)43-47
Number of pages5
JournalPeriodica Polytechnica, Mechanical Engineering
Volume56
Issue number1
DOIs
Publication statusPublished - 2012

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Torque control
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Keywords

  • Bang-bang
  • Computedtorque
  • Contact transition
  • Piecewise-linear system

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Time-optimal computed-torque control in contact transitions. / Magyar, Bálint; Stépán, G.

In: Periodica Polytechnica, Mechanical Engineering, Vol. 56, No. 1, 2012, p. 43-47.

Research output: Contribution to journalArticle

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