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

DOI10.1115/1.3143750zbMATH Open0591.93053OpenAlexW2096098568MaRDI QIDQ3720428FDOQ3720428

T. S. Sankar, Yury Stepanenko

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

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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)

Cited In (5)

• Describing function of two masses with backlash
• 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
• Limit cycle prediction of systems with fractional controllers and backlash
• Discrete-in-time feedback control of near-grazing dynamics in the two-degree-of-freedom vibro-impact system with a clearance

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