TY - JOUR
T1 - On the stability of the constrained robotic maneuvers.
AU - Kazerooni, H.
AU - Tsay, T. I.
PY - 1988/1/1
Y1 - 1988/1/1
N2 - The stability of the environment and a manipulator taken as a whole has been investigated, and a bound for stable manipulation has been derived using unstructured models for the dynamic behavior of the robot manipulator and the environment. This unified approach of modeling robot dynamics is expressed in terms of sensitivity functions, as opposed to the Lagrangian approach. In this way, the authors incorporate the dynamic behavior of all the elements of a robot manipulator (i.e. actuators, sensors and the structural compliance of the links) in addition to the rigid-body dynamics. It is shown that for stability of the robot, there must be some initial compliancy either in the robot or in the environment. The general stability condition has been extended to the particular case where the environment is very rigid in comparison with the robot stiffness.
AB - The stability of the environment and a manipulator taken as a whole has been investigated, and a bound for stable manipulation has been derived using unstructured models for the dynamic behavior of the robot manipulator and the environment. This unified approach of modeling robot dynamics is expressed in terms of sensitivity functions, as opposed to the Lagrangian approach. In this way, the authors incorporate the dynamic behavior of all the elements of a robot manipulator (i.e. actuators, sensors and the structural compliance of the links) in addition to the rigid-body dynamics. It is shown that for stability of the robot, there must be some initial compliancy either in the robot or in the environment. The general stability condition has been extended to the particular case where the environment is very rigid in comparison with the robot stiffness.
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U2 - 10.23919/acc.1988.4789850
DO - 10.23919/acc.1988.4789850
M3 - Conference article
AN - SCOPUS:0024133458
VL - 88 pt 1-3
SP - 892
EP - 897
JO - Proceedings of the American Control Conference
JF - Proceedings of the American Control Conference
SN - 0743-1619
ER -