Stable Control of Robotic Manipulator with Collision Phenomena (4th Report, Positioning of Multi-Degrees-of-Freedom Linear Manipulator

• Published in: Transactions of the Japan Society of Mechanical Engineers Series C Vol. 57; no. 543; pp. 3592 - 3598
• Main Authors: SHOJI, Yasumasa, INABA, Makoto, FUKUDA, Toshio, HOSOKAI, Hidemi
• Format: Journal Article
• Language: Japanese
• Published: The Japan Society of Mechanical Engineers 25.11.1991
• Subjects: Collision; Linear Manipulator; Lyapunov Method; n-D. O. F; Positioning; Simulation; Stability; Stable Control
• ISSN: 0387-5024; 1884-8354
• DOI: 10.1299/kikaic.57.3592

In this paper, a methodology using the Lyapunov direct method is proposed to analyze the stability of an multiple degree-of-freedom linear manipulator system which is positioned on a flexible wall with collision phenomenon. A method-ology to determine the controllaw of the manipulator which guarantees the system stability is also discussed. As collision is a phenomenon with energy dissipation, it is used in the field of industry for such purposes as to suppress vibrations. On the other hand, in the field of robotics, the phenomenon is usually avoided, because the controllability of the system becomes poorer at contact. But as demands for fast tasks against environment increases, collision becomes a problem which must be solved. In our previous reports, some approaches using the Lyapunov method were discussed. In this report, we expanded the manipu lator complexity to n-D. O. F and proved the stability of the system, including even collision. Some numerical simulations were also executed to show the transient behavior of the system and to compare their results with the results of the theoretical analysis.