ANALYSIS ON THE STABILITY OF ROBOT FORCE CONTROL SYSTEMS AND VIBRATION SUPPRESSION

Abstract

Abstract: Two robot force control systems, including a conventional root and a MACRO/MICRO robot, are analysed with the dynamic equations of Lagrange. It has been shown that the latter is more stable. Due to the structural dynamics of MACRO robot and the dynamics of the force sensor, there exist some resonances and antiresonances at higher bandwidths of the MACRO/MICRO robot. A method for optimizing the viscous damper is suggested to improve the performance of MACRO/MICRO robot at high bandwidths. The results show that when the driving force is 0.5N, the variation range of the interface force between robot and environment can be narrowed from 0.19～1.12N to 0.44～0.5N with this method.

Key words: Dynamics Stability, Force sensor, Robot, Vibration

Dai Tiecheng;Cai Hegao;Wu Lin. ANALYSIS ON THE STABILITY OF ROBOT FORCE CONTROL SYSTEMS AND VIBRATION SUPPRESSION[J]. , 1995, 31(1): 115-120.

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ANALYSIS ON THE STABILITY OF ROBOT FORCE CONTROL SYSTEMS AND VIBRATION SUPPRESSION

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