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In this paper, we consider a two link planar robotic arm that transitions from free motion to contact with an unactuated mass-spring system. The objective is to control a robot from a non-contact initial condition to a desired (in- contact) position so that the mass-spring system is regulated to a desired compressed state. The feedback elements for the controller in this paper are contained inside...
The control of dynamic systems that undergo an impact collision is both theoretically challenging and of practical importance. An appeal of studying systems that undergo an impact is that short-duration effects such as high stresses, rapid dissipation of energy, and fast acceleration and deceleration may be achieved from low-energy sources. However, colliding systems present a difficult control challenge...
The control of a dynamic system with impact conditions is an interesting problem with practical importance. One difficulty in controlling systems subject to impact collisions is that the equations of motion are different when the system status changes suddenly from a non-contact state to a contact state. In this paper a nonlinear controller is designed to regulate the states of two dynamic systems...
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