Pre-transition phase control: three different approaches

Nakju Doh, Gyudong Jeon, Wan Kyun Chung, Youngil Youm

Research output: Contribution to journalConference article

2 Citations (Scopus)

Abstract

In this paper, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff. In contact transition, phase transition can be divided into two definitely different phases, 'Pre-Transition Phase' and 'Transition Phase'. Here we define the 'Pre-Transition Phase' and we propose three control methods. First, we propose a novel controller named as 'Suppression Controller' which is not only stable but also simple to implement. Second, we present passive damper named as 'Flexible-Damped Joint' which is a good solution to circumvent the pre-transition phase. Third, we suggest a stable and simple controller which can maximize joint damping and minimize recontact velocity in the flexible-damped joint. It is named as 'Joint Damping Controller'. The effectiveness of these three approaches are verified via experiments using 'POSTECH 1 DOF DD ARM'.

Original languageEnglish
Pages (from-to)2802-2807
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 2000 Apr 242000 Apr 28

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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