Analysis of a robot system with a passive damper for force and impact control
SCIE
SCOPUS
- Title
- Analysis of a robot system with a passive damper for force and impact control
- Authors
- Oh, Y; Chung, WK
- Date Issued
- 1999-01
- Publisher
- VSP BV
- Abstract
- This paper deals with modeling and implementation of a robot system for force/impact control using a newly developed passive hardware damper. Modeling procedures of the whole system are addressed including the passive damper and stability of the system with respect to force feedback gain is analyzed. The limitations of conventional velocity feedback to produce damping characteristics are discussed. Experiments are performed with/without the passive damper to verify the effectiveness of the passive damping method and it is shown that the passive damper can help the system make stable contact during the contact period.
- Keywords
- passive hardware damper; force control; impact control
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/20328
- DOI
- 10.1163/156855399X00883
- ISSN
- 0169-1864
- Article Type
- Article
- Citation
- ADVANCED ROBOTICS, vol. 13, no. 1, page. 1 - 24, 1999-01
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- There are no files associated with this item.
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