Title :
Contact force and position control in constrained robots including effects of joint flexibility and actuator dynamics
Author :
Krishnan, Hariharan
Author_Institution :
Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore
Abstract :
Considers mathematical representations of constrained robot systems in which the effects of joint flexibility and actuator dynamics are significant. A systematic procedure is developed for designing a feedback control law which ensures that the position variables track the desired position trajectories exponentially, and the force variables track the desired force trajectories exponentially despite the presence of joint flexibility and actuator dynamics
Keywords :
control system synthesis; feedback; force control; position control; robots; actuator dynamics; constrained robots; contact force; feedback control law; force trajectories; joint flexibility; position control; position trajectories; Actuators; DC motors; Equations; Force control; Gears; Manipulator dynamics; Position control; Production engineering; Robots; Trajectory;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411121
