Kinematic stability of robot manipulators under force control

@inproceedings{Zhang1989KinematicSO,
  title={Kinematic stability of robot manipulators under force control},
  author={Hong Zhang},
  booktitle={ICRA},
  year={1989}
}
In this paper, we investigate the kinematic instability problem associated with some well-known force control approaches. The analysis is based on the linearized state-space models of these force control formulations. We derive the necessary and sufficient conditions under which a force control formulation is stable and use them to evaluate various approaches. We also discuss issues such as critical damping in stable force control approaches and stablizing measures for unstable force control… CONTINUE READING

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