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- W2000470016 abstract "Aspects of modelling, stability and control of robotic manipulators with structurally compliant links and joints during contact with a stiff work environment are presented in this paper. System models of n joint robotic manipulators are cast into multiple time-scale formulations. Several different models are developed, based on the relative differences in magnitude of the scaling parameters associated with the manipulator link, joint and environment stiffnesses. These stiffnesses, if greatly different, lead to a four time-scale system with virtually no interaction between these subsystems. In these models, as various subsystem stiffness coefficients become approximately equal, strong interaction among the subsystems is seen. Utilizing the theory of singularly perturbed dynamic systems, aspects of overall system stability are touched on, and possible use of a high speed stabilizing control is considered. It is seen from the analysis presented, that depending on the relative structural stiffness of the link, joint and work environment, is is not always possible to apply a corrective control for certain structural compliance effects. An example serves to illustrate some of the concepts discussed in the paper. It is noted that this paper does not provide general stability conclusions, but rather forms a framework for stability investigation." @default.
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- W2000470016 date "1996-11-01" @default.
- W2000470016 modified "2023-09-28" @default.
- W2000470016 title "Stability problem formulation of structurally compliant robot manipulators during contact task execution: A singular perturbation approach" @default.
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- W2000470016 doi "https://doi.org/10.1016/0094-114x(96)84598-8" @default.
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