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Stability of a "Manipulator-Drill" System with Force Control and Time Delay
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In this paper, a mathematical model of a manipulator-tool system with time delay present in the feedback loop is analyzed and the minimum possible gain factor necessary for a stable system is obtained.Abstract:
A mathematical model of a manipulator-tool system with time delay present in the feedback loop is analyzed. The drilling process with constant feed force and control of force is the subject of this research. It is shown that the time delay in the control loop is a factor that influences the system’s stability. The minimum possible gain factor necessary for a stable system is obtained. This factor depends on the time delay and the stiffness of the sensor. The theoretically obtained results are compared to experiments.read more
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Book ChapterDOI
Force Sensing for Multi-legged Walking Robots: Theory and Experiments - Part 1: Overview and Force Sensing
A. Schneider,U. Schmucker +1 more
TL;DR: This paper is intended to direct the attention of researchers and designers of multi-legged walking robots to the problem of force sensing for such vehicles, which enables such systems to achieve new mechanical properties, increases the reliability and functional capabilities of walking robots and simplifies many control algorithms.
Book ChapterDOI
Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 2: Force Control of Legged Vehicles
A. Schneider,U. Schmucker +1 more
TL;DR: To increase the damping in a highly oscillatory system, a velocity feedback should be introduced in the system, equivalent to high-gain position feedback.
References
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Journal ArticleDOI
Historical perspective and state of the art in robot force control
TL;DR: In this article, the authors combine histarical lineage, assessment of the state of the art, and discussion of unsolved problems in robot force control, including the difference between continuous and logic branching strategies.
Journal ArticleDOI
Ueber die Bedingungen, unter welchen eine Gleichung nur Wurzeln mit negativen reellen Theilen besitzt
TL;DR: Auf Veranlassung meines verehrten Kollegen, Herrn A. Stodola, beschaftigte ich mich vor einiger Zeit mit der Frage, wann eine Gleichung n ten Grades with reelle Koeffizienten ist negativ sind as discussed by the authors.
Journal ArticleDOI
Motion and force control of multiple robotic manipulators
TL;DR: This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object and shows that effective force regulation can be achieved even if little model information is available.
Book
Force Control of Robotics Systems
TL;DR: In this paper, a mathematical model for keeping contact with an object is presented for one-degree-of-freedom (FDF) and two-degree of freedom (2D) manipulators.