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Lyapunov Based Control of A Robot and Mass-Spring System Undergoing An Impact Collision
Lyapunov Based Control of A Robot and Mass-Spring System Undergoing An Impact Collision
Lyapunov Based Control of A Robot and Mass-Spring System Undergoing An Impact Collision
DIFFICULTY?
The equations of motion are different when the system status
changes suddenly from a non-contact state to a contact state.
DYNAMIC MODEL
• 2-Link manipulator :
1. M is symmetric and
4. Contact Torque:
Model of system after collision:
NOW:
Now:
CASE-III:
When the robot and mass-spring systems are in contact, Vdot can be
upper bounded as :