Force Measurement Time-Delays and Contact Instability Phenomenon

In this paper we consider stability issues of manipulators in contact with a rigid environment, i.e. submitted to a unilateral constraint of the form F(q) ≥ 0, where q is the vector of generalised coordinates. The interaction force feedback loop contains time-delays which may induce instability phenomena. Sufficient delay-dependent conditions are derived to guarantee that the robot's tip remains in contact with the surface. These conditions are found by taking into account the fact that, due to the unilateral nature of the constraint, the interaction force must have constant sign during the whole task. We analyse the cases of proportional and proportional-integral force feedback.

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