Title :
Task-level servocontrol in robotics
Author :
Bejczy, Antal K.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
The application of computers permits the design and implementation of several different types of servocontrol schemes for the control of robot arms. This paper focuses on the description of task-space error feedback techniques which can provide excellent performance for tracking position and force trajectories in both manual and automatic modes of control. Model assumptions and computational requirements implied in these techniques are outlined and the outstanding performance capabilities of the techniques are illustrated by numerous experimental results
Keywords :
feedback; manipulators; position control; servomechanisms; automatic control; computational requirements; force trajectories; model errors; performance; position tracking; robot arm control; robotics; servocontrol scheme design; task-level servocontrol; task-space error feedback; Application software; Automatic control; Computer applications; Computer errors; Error correction; Force feedback; Manipulators; Robot control; Robotics and automation; Trajectory;
Conference_Titel :
Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-3627-5
DOI :
10.1109/INES.1997.632391
