The paper deals with the problem of controlling the impact between a mechanical system, having n degrees of freedom, and a body possibly subject to elastic/plastic. deformations. Goal of the proposed control scheme is the regulation of the impact force to a desired vaine, while imposing a prescribed configuration to the system, even in presence of possible plastic deformations of the body. The behaviour of the controlled system is analysed in the three different situations that may occur: (i) non contact between the mechanical system and the body, (ii) contact with pun; elastic impact, and (iii) contact with plastic do-formation of the; body. Simulation results, which confirm the theoretical analysis in the case of a planar 2-dof manipulator striking an external surface, are reported in the paper.
Indri, M., Tornambe, A. (1999). Impact control under elastic/plastic deformations. In European Control Conference, ECC 1999 - Conference Proceedings (pp.1966-1971). Institute of Electrical and Electronics Engineers Inc..
Impact control under elastic/plastic deformations
Tornambe, A.
1999-01-01
Abstract
The paper deals with the problem of controlling the impact between a mechanical system, having n degrees of freedom, and a body possibly subject to elastic/plastic. deformations. Goal of the proposed control scheme is the regulation of the impact force to a desired vaine, while imposing a prescribed configuration to the system, even in presence of possible plastic deformations of the body. The behaviour of the controlled system is analysed in the three different situations that may occur: (i) non contact between the mechanical system and the body, (ii) contact with pun; elastic impact, and (iii) contact with plastic do-formation of the; body. Simulation results, which confirm the theoretical analysis in the case of a planar 2-dof manipulator striking an external surface, are reported in the paper.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
