| dc.creator |
Eppinger, Steven D. |
|
| dc.creator |
Seering, Warren P. |
|
| dc.date |
2004-10-01T20:10:33Z |
|
| dc.date |
2004-10-01T20:10:33Z |
|
| dc.date |
1986-07-01 |
|
| dc.date.accessioned |
2013-10-09T02:40:15Z |
|
| dc.date.available |
2013-10-09T02:40:15Z |
|
| dc.date.issued |
2013-10-09 |
|
| dc.identifier |
AIM-910 |
|
| dc.identifier |
http://hdl.handle.net/1721.1/5599 |
|
| dc.identifier.uri |
http://koha.mediu.edu.my:8181/xmlui/handle/1721 |
|
| dc.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. |
|
| dc.format |
15 p. |
|
| dc.format |
1871574 bytes |
|
| dc.format |
705592 bytes |
|
| dc.format |
application/postscript |
|
| dc.format |
application/pdf |
|
| dc.language |
en_US |
|
| dc.relation |
AIM-910 |
|
| dc.subject |
robot dynamics |
|
| dc.subject |
robot modeling |
|
| dc.subject |
force control |
|
| dc.subject |
dynamics ofsforce control |
|
| dc.title |
On Dynamic Models of Robot Force Control |
|