Romansy 13 pp 197-203 | Cite as

Remote Control of Periodic Robot Motion

  • Tamás Insperger
  • Gábor Stépán
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


Remote control of robots often leads to the presence of time delay in the information transmission of the signals in the control loop. Analytical methods are available for the calculation of the maximum critical time delays and control gains when stationary end positions of robots, or constant contact forces between actuators and environment are still stable. When the desired trajectory is periodic, or the desired contact force varies periodically, the non-linearities of the robotic structure take an important role even in the local stability behavior about the desired motion. The non-linear characteristics and the periodic path together lead to parametric excitation, i.e., the stiffness, damping and gain parameters may vary periodically in time. The stability behavior of these systems become intricate in the presence of great time delays. Stability charts are constructed which explain the stability properties of remote periodic force control.


Remote Control Contact Force Gain Parameter Stability Chart Periodic Path 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Cooper, J. M., Kojeca, D. M. (1994). Relationship of Leg Strength, H-Reflexes and Balance in Young and Elderly Adults — Preliminary Study, In Proceeidngs of Twelve’s International Symposium on Biomechanics in Sport, Budapest, 157–158.Google Scholar
  2. Craig, J. J. (1986). Introduction to Robot Mechanics and Control, Reading, Addison-Willey.Google Scholar
  3. Fargue, D. (1973). Réducibilité des Systémes héréditaires a des systémes dinamiques, C. R. Acad. Sci. Paris, 277B: 471–473.MathSciNetGoogle Scholar
  4. Insperger, T., Horváth, R. (2000). Pendulum With Harmonic Variation of the Suspension Point, 2000, Periodica Polytechnica — Mechanical Engineering, 44, Budapest, to appear.Google Scholar
  5. Spong, M. W., Vidyasagar, M. (1989). Robot Dynamics and Controll, Singapure, Wiley amp; Sons.Google Scholar
  6. Stépán G. (1997). Nonlinear Oscillations and Shimmying wheels, In Proceedings of Symposium on New Applications of Nonlinear and Chaotic Dynamics in Mechanics, Ithaca, 373–387.Google Scholar
  7. Stépán, G., Steven A. (1990). Theoretical and Experimental Stability Analysis of a Hybrid Position-Force controlled robot, In Proceedings of Eight Symposium on Theory and Practice of Robots and Manipulators, Cracow, 53–60.Google Scholar
  8. Vertut, J., Charles, J., Coiffet, P. and Petit. M. (1976). Advance of the New MA23 Force Reflecting Manipulator System, In Proceedings of the Second Symposium on Theory and Practice of Robots and Manipulators, Udine, 50–57.Google Scholar

Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Tamás Insperger
    • 1
  • Gábor Stépán
    • 1
  1. 1.Department of Applied MechanicsBudapest University of Technology and EconomicsHungary

Personalised recommendations