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http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/5599| Title: | On Dynamic Models of Robot Force Control |
| Keywords: | robot dynamics robot modeling force control dynamics ofsforce control |
| Issue Date: | 9-Oct-2013 |
| Description: | For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be limited to unsatisfactory closed-loop performance. This paper discusses the particular dynamic properties of robot systems which can lead to instability and limit performance. A series of lumped-parameter models is developed in an effort to predict the closed-loop dynamics of a force-controlled single axis arm. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics. The qualitative analysis shows that the robot dynamics contribute to force-controlled instability. Recommendations are made for models to be used in control system design. |
| URI: | http://koha.mediu.edu.my:8181/xmlui/handle/1721 |
| Other Identifiers: | AIM-910 http://hdl.handle.net/1721.1/5599 |
| Appears in Collections: | MIT Items |
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