Contact Instability in Rate-control Telemanipulation
نویسندگان
چکیده
Chi-Cheng Cheng and Jiun-Hung Chen Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-Sen University, 70 Lian-Hai Road, Kaohsiung Taiwan 80424, Republic of China Abstract: Telemanipulation is usually provided with the force-reflective feature to give human operators information about the remote site. However, oscillations can always been found in contact with rigid environment. This paper presents theoretical analysis about the phenomenon of the contact oscillation in rate-control manipulation using the describing function technique. Occurrence and characteristics of limit cycles due to contact motion are verified by results of computer simulations. Copyright © 2005 IFAC
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تاریخ انتشار 2005