Hard Contact Transition Control Laws : :Three Different Approaches

In this paper, we consider on hard contact transition control strategies. Hard contact transition phase can be divided into two definitely different phases,“Pre-Transition Phase”and“Transition Phase”. Here we focus on the“Pre-Transition Phase”and we propose three control methods. First, we propose a novel con-troller named as “Suppression Controller”which is not only stable but also simple to implement. Second, we present passive damper named as“Flexible-Damped Joint”Which is good solution in Circumventing pre-transition Phase. Third, We suggest a stable and simple controller which can maximize joint damping and minimize recontact velocity in flexible-damped joint. It is named as“Joint Damping Controller”.