Vibro-Impact Analysis of Control Systems With Mechanical Clearance and Its Application to Robotic Actuators

DOI10.1115/1.3143750MaRDI QIDQ3720428zbMATH OpenOpenAlexFDO

Authors Yury Stepanenko, T. S. Sankar

Publication date 1986

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3143750

zbMATH Keywords

describing functionhigh-frequency limit cyclesnonlinear element with clearance and elasticitystability of robotic actuators

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Stability of control systems (93D99) Phase plane analysis, limit cycles for nonlinear problems in mechanics (70K05)

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Cited in

(6)

• Describing function of two masses with backlash
• Effects of geometrical clearances, supports friction, and wear rings on hydraulic actuators bending behavior
• The dynamical nature of a backlash system with and without fluid friction
• A review on belt and chain continuously variable transmissions (CVT): dynamics and control
• Discrete-in-time feedback control of near-grazing dynamics in the two-degree-of-freedom vibro-impact system with a clearance
• Limit cycle prediction of systems with fractional controllers and backlash

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