DocumentCode
1998213
Title
Improved force control laws for advanced tracking applications
Author
De Schutter, J.
Author_Institution
Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
fYear
1988
fDate
24-29 Apr 1988
Firstpage
1497
Abstract
An approach is presented to improve the performance of existing control laws when the end effector is in contact with a moving object or when it moves along the surface of the object. The approach consists of feeding forward the object motion parameters such as velocity and acceleration, in the force control law. If the motion of the object is not known in advance, its motion parameters are estimated using an observer. The approach is applied to external force control. Simulation results demonstrate the improved performance and are confirmed experimentally
Keywords
force control; parameter estimation; position control; robots; tracking; end effector; force control; observer; parameter estimation; robots; tracking; Acceleration; Bandwidth; End effectors; Force control; Motion estimation; Multidimensional systems; Orbital robotics; Parameter estimation; Position control; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12279
Filename
12279
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