Understanding Bandwidth Limitations in Robot Force Control

dc.creator	Eppinger, Steven D.
dc.creator	Seering, Warren P.
dc.date	2004-10-04T14:57:13Z
dc.date	2004-10-04T14:57:13Z
dc.date	1987-08-01
dc.date.accessioned	2013-10-09T02:45:34Z
dc.date.available	2013-10-09T02:45:34Z
dc.date.issued	2013-10-09
dc.identifier	AIM-948
dc.identifier	http://hdl.handle.net/1721.1/6463
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	This paper provides an analytical overview of the dynamics involved in force control. Models are developed which demonstrate, for the one-axis explicit force control case, the effects on system closed-loop bandwidth of: a) robot system dynamics that are not usually considered in the controller design; b) drive-train and task nonlinearities; and c) actuator and controller dynamics. The merits and limitations of conventional solutions are weighed, and some new solutions are proposed. Conclusions are drawn which give insights into the relative importance of the effects discussed.
dc.format	2557624 bytes
dc.format	888330 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-948
dc.title	Understanding Bandwidth Limitations in Robot Force Control

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