Transactions of the Korean Society of Mechanical Engineers (대한기계학회논문집)
- Volume 18 Issue 9
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- Pages.2284-2296
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- 1994
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- 1225-5963(pISSN)
DOI QR Code
Analysis of Geometric Stability in Robot Force Control
로보트를 이용한 힘제어에서의 기하학적 안정성에 관한 해석
Abstract
Force control of robotic mechanisms continues to be a challenging area. Previous implementation have seldom produced satisfactory results, and researchers in the past have experienced significant instability problems associated with their force controllers. In this study, a new stability factor in force control will be pointed out. When a manipulator is constrained to an environment(force-controlled), geometric instability due to the relationship between the manipulator configuration and the force-controlled direction is shown to be a significant factor in overall system stability. This exploratory study points out a rather intuitive, geometrically based stability factor in terms of an effective system stiffness and analyzes the phenomenon both analytically and graphically. Also, a stiffness control algorithm using the kinematic redundancy of a kinematically redundant manipulator is proposed to improve the overall stability in force control.
Keywords
- Geometric Stability;
- Force Control;
- Antagonistic Stiffness;
- Stiffness Control;
- Redundant Manipulator
- 기하학적 안정성;
- 힘제어;
- 상반 강성;
- 강성제어;
- 여유자유도 매니퓰레이터;