Modeling and Stability Analysis of Dynamic Control Through a Soft Interface

Mizuho Shibata; Shinichi Hirai

doi:10.20965/jrm.2006.p0242

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JRM Vol.18 No.3 pp. 242-248

doi: 10.20965/jrm.2006.p0242

(2006)

Paper:

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Modeling and Stability Analysis of Dynamic Control Through a Soft Interface

Mizuho Shibata, and Shinichi Hirai

Department of Robotics, Ritsumeikan University, 1-1-1 Noji-Higashi, Kusatsu, Shiga 525-8577, Japan

Received:

October 30, 2005

Accepted:

March 23, 2006

Published:

June 20, 2006

Keywords:

soft interface, dynamic object manipulation, viscoelasticity, continuous-discrete time system, modified z-transform

Abstract

To analyze the stability of dynamic control through a soft interface -the viscoelastic material between a manipulating finger and a manipulated object- we model dynamic control through the soft interface in continuous-discrete time. We then formulate dynamics using a modified z-transform in continuous-discrete time for feedback and feedforward control. We show that system stability depends on the viscoelasticity of the soft interface for feedback control. The relationship between material viscosity and sampling time in critical stability is not monotonous, a phenomenon we analyze by root locus. We compare stability analysis by the modified z-transform, simulations based on the Runge-Kutta method, and a regular z-transform, demonstrating that the relationship is specific to a continuous-discrete time.

Cite this article as:

M. Shibata and S. Hirai, “Modeling and Stability Analysis of Dynamic Control Through a Soft Interface,” J. Robot. Mechatron., Vol.18 No.3, pp. 242-248, 2006.

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References

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[7] A. Bicchi, “Force Distribution in Multiple Whole-Limb Manipulation,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 196-201, 1993.
[8] S. Arimoto, P. T. A. Nguyen, H. Y. Han, and Z. Doulgeri, “Dynamics and control of a set of dual fingers with soft tips,” Robotica, Vol.18, No.1, pp. 71-80, 2000.
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[13] E. I. Jury, “Sampled-Data Control Systems,” John Wiley & Sons, Inc., 1958.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. R. Cutkosky, “Robotic Grasping and Fine Manipulation,” Kluwer Academic Publishers, 1985.

[2] [2] M. Mason, and K. Salisbury, “Robot Hands and Mechanics of Manipulation,” MIT Press, 1986.

[3] [3] R. Murray, Z. Li, and S. Sastry, “A mathematical introduction to robotic manipulation,” CRC Press, 1999.

[4] [4] T. Yoshikawa, and K. Nagai, “Manipulating and Grasping Forces in Multifingered Robot Hands,” IEEE Tras. on Robotics and Automation, Vol.7-1, pp. 67-77, 1991.

[5] [5] A. Namiki, and M. Ishikawa, “Optimal grasping using visual and tactile feedback,” Proc. of IEEE Int. Conf. on Multisensor Fusion and Intelligent Systems, pp. 584-596, 1996.

[6] [6] Y. Maeda, and T. Arai, “A Quantitative Stability Measure for Graspless Manipulation,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2473-2478, 2002.

[7] [7] A. Bicchi, “Force Distribution in Multiple Whole-Limb Manipulation,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 196-201, 1993.

[8] [8] S. Arimoto, P. T. A. Nguyen, H. Y. Han, and Z. Doulgeri, “Dynamics and control of a set of dual fingers with soft tips,” Robotica, Vol.18, No.1, pp. 71-80, 2000.

[9] [9] S. Arimoto, Z. Doulgeri, P. T. A. Nguyen, and J. Fasoulas, “Stable pinching by pair of robot fingers with soft tips under the effect of gravity,” Robotica, Vol.20, No.1, pp. 1-11, 2002.

[10] [10] S. D. Eppinger, and W. P. Seering, “Three Dynamics Problems in Robot Force Control,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 392-397, 1989.

[11] [11] K. B. Shimoga, and A. A. Goldenberg, “Soft Robotic Fingers: Part I. A Comparison of Construction Materials,” International Journal of Robotics Research, pp. 320-334, 1996.

[12] [12] K. B. Shimoga, and A. A. Goldenberg, “Soft Robotic Fingers: Part II. Modeling and Impedance Regulation,” International Journal of Robotics Research, pp. 335-350, 1996.

[13] [13] E. I. Jury, “Sampled-Data Control Systems,” John Wiley & Sons, Inc., 1958.