제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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- Pages.17-20
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- 1999
Hard Contact Transition Control Laws : :Three Different Approaches
- Doh, Nakju (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical Engineering Pohang University of Science & Technology(POSTECH)) ;
- Chung, Wankyun (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical Engineering Pohang University of Science & Technology(POSTECH)) ;
- Youm, Youngil (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical Engineering Pohang University of Science & Technology(POSTECH))
- 발행 : 1999.10.01
초록
In this paper, we consider on hard contact transition control strategies. Hard contact transition phase can be divided into two definitely different phases,“Pre-Transition Phase”and“Transition Phase”. Here we focus on the“Pre-Transition Phase”and we propose three control methods. First, we propose a novel con-troller named as “Suppression Controller”which is not only stable but also simple to implement. Second, we present passive damper named as“Flexible-Damped Joint”Which is good solution in Circumventing pre-transition Phase. Third, We suggest a stable and simple controller which can maximize joint damping and minimize recontact velocity in flexible-damped joint. It is named as“Joint Damping Controller”.
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