Lag-Stabilized Force Feedback Damping

  • Authors:

  • Rush D. Robinett;Ben J. Petterson;Jill C. Fahrenholtz

  • Affiliations:

  • Sandia National Laboratories, Albuquerque, NM 87185, USA;Sandia National Laboratories, Albuquerque, NM 87185, USA;Sandia National Laboratories, Albuquerque, NM 87185, USA

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 1998

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Abstract

A lag-stabilized, force feedback controller for damping initial andresidual oscillations of a planar, cantilevered flexible arm has beenanalytically developed and experimentally implemented on a commercial robot.The controller feeds back force sensor measurements that are delayed in timeand proportional to the displacement (angular orientation) of the arm inorder to damp the oscillation. As a result of the lag (contrary to popularbelief), the controlled robot system is stable and provides tunableperformance on a Cincinnati Milacron T3-786 robot.