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Stability of a "Manipulator-Drill" System with Force Control and Time Delay

A mathematical model of a manipulator-tool system with time delay present in the feedback loop is analyzed. The drilling process with constant feed force and control of force is the subject of this research. It is shown that the time delay in the control loop is a factor that influences the system’s stability. The minimum possible gain factor necessary for a stable system is obtained. This factor depends on the time delay and the stiffness of the sensor. The theoretically obtained results are compared to experiments.