DocumentCode
2537135
Title
On dynamic models of robot force control
Author
Eppinger, Steven D. ; Seering, Warren P.
Author_Institution
Massachusetts Institute of Technology, Cambridge, MA, USA
Volume
3
fYear
1986
fDate
31503
Firstpage
29
Lastpage
34
Abstract
A series of lumped-parameter models is developed in an effort to predict the dynamics of simple force-controlled robot systems. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics. A qualitative analysis suggests that the robot dynamics contribute to force-controlled instability.
Keywords
Artificial intelligence; Control systems; Force control; Force sensors; Intelligent robots; Robot kinematics; Robot sensing systems; Robotic assembly; Sensor systems; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087723
Filename
1087723
Link To Document