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- W2000367595 abstract "Abstract In this paper, a methodology using the Lyapunov direct method is proposed to analyze the stability of a manipulator system which is positioned or forced against a deformable wall with collision phenomena. The stability and response of the system are examined by parameter studies of numerical simulations. As collision is a phenomenon with energy dissipation, it is effectively used in the field of industry to suppress vibration. However, in the field of robotics little research has been undertaken to the collision of robotics with their environment at the viewpoint of active control. Up until now systems have been controlled to avoid rapid contact. We have adopted a Hertz-type model with an energy loss parameter to express the impact force between the manipulator and the wall. Using this model, we proved that stable positioning of the manipulator against the deformable wall is assured to be possible and that the stabilization effect of collision using a nonlinear Lyapunov function. The effect is confirmed by the simulation." @default.
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- W2000367595 date "1992-01-01" @default.
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- W2000367595 title "Impact/contact control of a robotic manipulator" @default.
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- W2000367595 doi "https://doi.org/10.1016/0045-7906(92)90034-b" @default.
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