Shared compliant control: a stability analysis and experiments
Shared compliant control: a stability analysis and experiments
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共享顺应控制：稳定性分析和实验
DOI：
10.1109/icsmc.1990.142187
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发表时间：
1990
期刊：
影响因子：
--
通讯作者：
W.S. Kim
中科院分区：
文献类型：
--
作者：
W.S. Kim
通过对安装在机器人手上的力/扭矩传感器的输出进行低通滤波并使用这些信号来改变位置命令，来实现为机器人手的每个笛卡尔轴提供阻尼弹簧的主动顺应性。在该实施方式中，较大的顺应性需要较高的反馈增益，这倾向于使系统不稳定。基于波德幅值和相位图的图形稳定性分析用于确定给定所需顺应性值的低通滤波器的最大带宽。这种图解法使稳定区域易于确定。该方法也被应用于检查的共享柔顺控制的稳定性存在的时间延迟的反馈回路。从一个实现的顺应性机器人手的实验结果与那些图形方法吻合得很好。该方法可以推广到研究与共享柔顺控制相结合的力反射系统的稳定性。<<ETX>>
Active compliance providing a damped spring for each Cartesian axis of a robot hand is implemented by low-pass-filtering the outputs of the force/torque sensors mounted on the robot hand and using these signals to alter the position commands. In this implementation, larger compliance needs higher feedback gain, which tends to destabilize the system. A graphical stability analysis based on Bode magnitude and phase plots is used to determine the maximum bandwidth of the low-pass filter for a given desired compliance value. This graphical method enables the stability region to be easily determined. This method is also applied to examine the stability of the shared compliant control in the presence of time delay in the feedback loop. Experimental results obtained from an implemented compliant robot hand agree well with those of the graphical method. The approach can be extended to investigate the stability of the force-reflecting system combined with shared compliant control.<<ETX>>