Title :
On dynamic models of robot force control
Author :
Eppinger, Steven D. ; Seering, Warren P.
Author_Institution :
Massachusetts Institute of Technology, Cambridge, MA, USA
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;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087723
