DocumentCode
2529370
Title
Historical perspective and state of the art in robot force control
Author
Whitney, Daniel E.
Author_Institution
Charles Stark Draper Laboratory, Inc., Cambridge, MA
Volume
2
fYear
1985
fDate
31107
Firstpage
262
Lastpage
268
Abstract
This presentation combines historical lineage, assessment of the state of the art, and representative videotapes on robot force control. The difference between continuous and logic branching strategies is described. The development of various impedance strategies and hybrid methods is traced and compared. The problem of stability is discussed and remedies are related to higher strategy issues.
Keywords
Arm; Control systems; Delay; Force control; Force feedback; Logic; Manipulators; Master-slave; Robots; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1985 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1985.1087266
Filename
1087266
Link To Document