Stability Boundary of Impedance Controlled Robots: Effect of Stiffness, Damping, Friction and Delay

摘要

In this paper, the maximum tolerable feedback delay in impedance control is studied regarding its destabilizing effect in bilateral impedance control of telemanipulators. It is difficult to investigate the quantitative performance and the stability in a real telemanipulation scenario due to its complexity and the non-repeatable actuation of the human operator. Instead of a complete bilateral telemanipulator, we used a simplified, unilateral, 1 DoF system observing the substantial points of the problem. Conventional linear mass-damper system and mass with non-linear friction model have been studied. Numerical computation and simulation is used to determine the critical delay values. The results are validated by experiments.