ソフトインターフェースを介した動的な物体操作における連続離散時間系を基にした安定性解析 Stability Analysis Based on Continuous-discrete Time System of Dynamic Object Manipulation through A Soft Interface
We analyze the stability of dynamic object manipulation through a<I>soft interface</I>, the viscoelastic material between a manipulating finger and manipulated object. First, we model a dynamic object manipulation system through a soft interface. The system is described in continuous-discrete time. Second, we formulate the dynamics using the modified z-transform in the continuous-discrete time system for feedback and feedforward control. Thus, we show that the stability of the system depends on viscoelasticity of the soft interface for feedback control. In particular, we point out that, in critical stability, the relationship between material viscosity and sampling time is not monotonous. We also analyze this phenomenon by the root locus method. Next, we compare the stability analysis by the modified z-transform and a regular z-transform. Thus, we demonstrate that the relationship is specific to the continuous-discrete time system. Finally, we confirm the relationship experimentally.
- 日本ロボット学会誌 = Journal of Robotics Society of Japan
日本ロボット学会誌 = Journal of Robotics Society of Japan 24(3), 349-355, 2006-04-15
The Robotics Society of Japan