An infinite-dimensional analysis of a PD-controlled single flexible link in collision
An infinite-dimensional analysis of a PD-controlled single flexible link in collision
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PD控制单柔性连杆碰撞的无限维分析
DOI：
10.1109/robot.1999.770014
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
David W. L. Wang
中科院分区：
文献类型：
--
作者：
Francis Ching;David W. L. Wang
人们对研究在与环境接触的任务中使用柔性连杆机械手越来越感兴趣。目前，对于此类机械臂的力控制策略稳定性的研究非常有限，特别是在无约束和约束环境之间存在切换的情况下。本文研究了PD控制下单个柔性连杆接触环境的稳定性问题。概述了与有限维近似有关的问题，并描述了渐近稳定性的无限维证明。
There is increasing interest in examining the use of flexible link manipulators in tasks where there is contact with the environment. Presently, there has been limited work examining the stability of force control strategies for such manipulators, especially in the case where there is a switching transition between the unconstrained and constrained environments. In the paper, the stability of a single flexible link under PD control contacting an environment is studied. The problems associated with finite-dimensional approximations are outlined and an infinite-dimensional proof of asymptotic stability is described.