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Lag-Stabilized Force Feedback Damping

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Abstract

A lag-stabilized, force feedback controller for damping initial and residual oscillations of a planar, cantilevered flexible arm has been analytically developed and experimentally implemented on a commercial robot. The controller feeds back force sensor measurements that are delayed in time and proportional to the displacement (angular orientation) of the arm in order to damp the oscillation. As a result of the lag (contrary to popular belief), the controlled robot system is stable and provides tunable performance on a Cincinnati Milacron T3-786 robot.

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Authors and Affiliations

  1. Sandia National Laboratories, Albuquerque, NM, 87185, USA

    Rush D. Robinett, Ben J. Petterson & Jill C. Fahrenholtz

Authors
  1. Rush D. Robinett
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  2. Ben J. Petterson
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  3. Jill C. Fahrenholtz
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Robinett, R.D., Petterson, B.J. & Fahrenholtz, J.C. Lag-Stabilized Force Feedback Damping. Journal of Intelligent and Robotic Systems 21, 277–285 (1998). https://doi.org/10.1023/A:1007967028141

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  • DOI: https://doi.org/10.1023/A:1007967028141

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