Title :
Virtual environment for robot force control
Author :
Fraisse, P. ; Pierrot, F. ; Dauchez, P.
Author_Institution :
LIRMM-UMR, Montpellier Univ., France
Abstract :
The authors present a new concept in robot force control: the virtual environment concept. This concept is a way to increase the robustness of force control schemes with respect to a variation of the environment characteristics. This approach is presented, analyzed, and adapted to robot force control. Simulation results are presented to prove the efficiency of the method
Keywords :
computerised control; force control; robots; hybrid scheme; robot force control; robustness; simulation; virtual control law; virtual environment concept; Actuators; Control systems; Force control; Integral equations; Manipulators; Robots; Robust control; Robustness; Springs; Virtual environment;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291986
