ロール運動が安定限界に及ぼす影響

抄録

This paper considered the effect on the stability limit of adding roll motion to the equation of motion under force control.．The results show an increase in the unstable region compared to the stability limit under force control without the addition of roll motion. Increasing the roll stiffness and decreasing the roll angle approached the stability limits under force control with no added roll motion．Therefore, it seems that the roll angle generated by the roll motion affects the stability limit．