Contact stability analysis using dynamic control model

Atsushi Kato, Kouhei Ohnishi

Research output: Contribution to conferencePaper

Abstract

The purpose of this study is to analyze the contact stability. The controller with observer based system is transformed into its dynamic physical model. Two approaches are discussed in this paper. The first one considered ideal disturbance observer and ideal reaction force observer. The second one dealet with the real world disturbance observer and real world reaction force observer. The gap between the ideal and real world is analyzed. The validity of the proposed approaches of the contact stability is confirmed in the experiments.

Original languageEnglish
Pages199-204
Number of pages6
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Kato, A., & Ohnishi, K. (2004). Contact stability analysis using dynamic control model. 199-204. Paper presented at Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan.