The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
An analysis of contact instability in terms of passive physical equivalents
Abstract
The authors explore the sources of and solutions to robot contact instability associated with force feedback. The behavior of several linear robot models is analyzed in terms of the properties of their admittances. Using the novel technique of passive physical equivalents, an explanation for the often-observed instability of a force-controlled robot contacting a stiff surface is offered, and it is shown that a fundamental limit exists to the efficacy of any force feedback controller implemented on a robot with noncolocated actuators and sensors. Suggestions for improved force control involving both mechanical design and compensator design are also presented.>
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Citations
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Self-citation
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Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment
Jung, S., Hsia, T. C., & Bonitz, R. G. (2004) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2004.824320 · Cited by 478
Metadata
- Authors
- Colgate, E., & Hogan, N.
- Venue
- Proceedings, 1989 International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2003-01-07
- Pages
- 404-409
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2139548710
- Cited by
- 266
- References
- 1
- FWCI
- 17.65
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Colgate, E., & Hogan, N. (2003). An analysis of contact instability in terms of passive physical equivalents. Proceedings, 1989 International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1989.100021
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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