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Dynamics modeling and stability of robotic systems with discrete-time force control

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Abstract

This paper investigates the dynamic behavior of robotic echanical systems with discrete-time force control. Force control is associated with the constrained motion of a mechanical system. A novel approach is presented to analyze the stability and performance based on the separation of constrained and admissible motions. This results in a model representing the dynamics of the constrained motion of the system. The analysis connects the complex nonlinear model of a mechanical system to a set of abstract delayed oscillators. These oscillator models make it possible to perform a detailed closed-form mathematical analysis of the stability behavior. A planar two-degree-of-freedom (DoF) mechanism is presented as an example to illustrate the material. Results are illustrated by stability charts in the parameter space of mechanical parameters, control gains and the sampling rate.

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Authors and Affiliations

  1. Department of Mechanical Engineering, McGill University, Sherbrooke Street West, Montreal, QC, Canada, H3A 2K6

    József Kövecses

  2. Department of Applied Mechanics, Budapest University of Technology and Economics, 1521, Budapest, Hungary

    László L. Kovács & Gábor Stépán

Authors
  1. József Kövecses
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  2. László L. Kovács
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  3. Gábor Stépán
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Correspondence to József Kövecses.

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Kövecses, J., Kovács, L.L. & Stépán, G. Dynamics modeling and stability of robotic systems with discrete-time force control. Arch Appl Mech 77, 293–299 (2007). https://doi.org/10.1007/s00419-006-0085-x

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  • DOI: https://doi.org/10.1007/s00419-006-0085-x

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