CONTACT INSTABILITY OF THE DIRECT DRIVE ROBOT WHEN CONSTRAINED BY A RIGID ENVIRONMENT

被引：23

作者：

KAZEROONI, H

机构：

[1] Mechanical Engineering Departmenl, University of Minnesota, Minneapolis

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1990年 / 35卷 / 06期

关键词：

D O I：

10.1109/9.53550

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robot manipulations require mechanical interaction with the environment (i.e., the object being manipulated) which can constrain the robot endpoint in some or all directions. A sufficient condition for the stability of robot manipulators in constrained maneuvers is derived in the work presented here. Attention is focused on the class of direct drive robots whose rigid links dominate the robot's dynamic behavior; compared to the robot, the environment is assumed to be infinitely rigid. The stability of the manipulator-environment system is investigated, and a bound for stable manipulation is determined. This bound is verified via simulation and experiment on the Minnesota direct drive robot. © 1990 IEEE

引用

页码：710 / 714

页数：5

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