An analysis of contact instability in terms of passive physical equivalents

Colgate, Ed; Hogan, Neville

doi:10.1109/robot.1989.100021

Cited by 216 publications

(118 citation statements)

References 14 publications

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“…If the robot is equipped with force sensors to measure τ int on-line, we assume that closed-loop force control is applied. However, there will always be a certain minimum inertia remaining [16]. Therefore, in addition to feedback (fb) terms depending on force, also feedforward (ff) terms depending on time or position can be beneficial to make τ act match the needed torques closely:…”

Section: Generalized Elasticities 1) Idea and Conceptmentioning

confidence: 99%

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Generalized elasticities improve patient-cooperative control of rehabilitation robots

Vallery

Duschau-Wicke

Riener

2009

2009 IEEE International Conference on Rehabilitation Robotics

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Section: Generalized Elasticities 1) Idea and Conceptmentioning

confidence: 99%

“…However, this reduction is limited, i.e. there will always be inertial forces remaining [16], and the control scheme requires force sensors.…”

Section: Introductionmentioning

confidence: 99%

Generalized elasticities improve patient-cooperative control of rehabilitation robots

Vallery

Duschau-Wicke

Riener

2009

2009 IEEE International Conference on Rehabilitation Robotics

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“…It is important to perform a stability analysis of such an interaction system, because the human operator is in direct contact with the robot or an object grasped by the robot. However, there are few studies of investigating practical stability problems in the actual human-robot cooperative task system (9)(10)(11)(12)(13)(14)(15)(16) .…”

Section: Introductionmentioning

confidence: 99%

Stability Analysis for Impedance Control of Robot in Human-Robot Cooperative Task System

Tsumugiwa

Fuchikami

Kamiyoshi

et al. 2007

JAMDSM

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In this paper, we consider a stability analysis for the impedance control of the robot in the human-robot cooperative task system. In the stability analysis, the effect of modeling conditions is investigated, such as the impedance characteristic of the robot, the time delay of a human operator and control of the robot, the compliance of the structure of the robot and environmental stiffness in interactive system. The proposed simulation of the stability analysis reveals that these conditions have significant effects on the stability of the system. To confirm the usefulness of stability analysis simulation, a verification experiment using a Mitsubishi PA-10 robot arm was performed. Experimental results show that the proposed stability analysis is effective in simulating the stability of the human-robot cooperative task system.

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“…Hogan [1] invented a method to control the end-effector impedance of a manipulator based on the measured position, velocity and force of the end-effector. Since then, many studies have been conducted, including realization techniques [2], [3] and stability analysis for contact motion [4]. The impedance control is one of the most important frameworks to control the interaction between the manipulators and the environment.…”

mentioning

confidence: 99%

Noncontact impedance control for redundant manipulators

Tsuji

Kaneko

1999

IEEE Trans. Syst., Man, Cybern. A

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Abstract-This paper proposes an impedance control method that can regulate a virtual impedance between a robot manipulator and external objects using visual information. The conventional impedance control method is not useful in some cases where no interaction force between the arm and its environment exists, although it is one of the most effective control methods for manipulators in contact with the environment. Using the proposed method, we can control the manipulator motion based on the virtual impedance before contact with the objects. The validity of the proposed method is verified through computer simulations and experiments using a direct-drive robot.

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An analysis of contact instability in terms of passive physical equivalents

Cited by 216 publications

References 14 publications

Generalized elasticities improve patient-cooperative control of rehabilitation robots

Generalized elasticities improve patient-cooperative control of rehabilitation robots

Stability Analysis for Impedance Control of Robot in Human-Robot Cooperative Task System

Noncontact impedance control for redundant manipulators

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