Analysis of a robot system with a passive damper for force and impact control
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
Document Type: Research Article
Affiliations: Robotics Laboratory, School of Mechanical Engineering, Pohang University of Science and Technology (POSTECH), San-31, Hyoja-Dong, Pohang 790-784, South Korea
Publication date: 01 January 1998
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