A robust control designed for multiple degrees-of-freedom (DOF) robot manipulators performing complex tasks requiring frequent physical interaction with unknown and/or uncertain environments is analyzed to provide complete stability conditions and explain its robustness to environmental changes and disturbances. Nonlinear bang–bang impact control was introduced about two decades ago. High-velocity impact experiments using a one DOF robot and a stiff aluminum wall showed superior performance than other controllers. Moreover, it does not use robot dynamics and environmental dynamics for its design. Furthermore, intriguingly, it utilized the nonlinear joint friction, which was commonly regarded as a factor deteriorating the control performance, to subside impact energy sensibly. To date, the stability was, however, not completely proved. Thus, NBBIC was not widely adopted. In this study, thus, complete and sufficient stability conditions of NBBIC for multi-DOF robots are derived based on energy comparisons and \(L_{\infty }^{n}\) space analysis. It was found that the NBBIC stability condition does not require information on the environmental dynamics and disturbances. Stability was affected by the intentional time delay, which was needed to efficiently and effectively estimate the environment and robot dynamics and the accuracy of robot inertia estimate. As was expected, larger friction was better for subsiding the impact force that is expected when impacting an environment at high velocity.

为执行需要与未知和/或不确定环境频繁物理交互的复杂任务的多自由度 (DOF) 机器人操纵器设计的鲁棒控制进行了分析，以提供完整的稳定性条件并解释其对环境变化和干扰的鲁棒性。大约 20 年前引入了非线性 bang-bang 冲击控制。使用一个自由度机器人和坚硬的铝壁进行的高速冲击实验显示出比其他控制器优越的性能。此外，它的设计没有使用机器人动力学和环境动力学。此外，有趣的是，它利用非线性关节摩擦，这通常被认为是降低控制性能的一个因素，以合理地降低冲击能量。然而，迄今为止，稳定性尚未得到完全证实。因此，NBBIC 并未被广泛采用。因此，在本研究中，基于能量比较，推导出 NBBIC 用于多自由度机器人的完整和充分的稳定性条件。\(L_{\infty }^{n}\)空间分析。发现 NBBIC 稳定性条件不需要有关环境动态和干扰的信息。稳定性受到有意时间延迟的影响，需要有效地估计环境和机器人动力学以及机器人惯性估计的准确性。正如预期的那样，较大的摩擦力更好地降低以高速撞击环境时预期的撞击力。