DocumentCode
3214149
Title
Position and force controls for two coordinating robots
Author
Tao, Jian M. ; Luh, J.Y.S.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
176
Abstract
Two different control schemes, position model referenced control (PMRC) and force model referenced control (FMRC), are developed for a simplified two robots model with one interacting axis. The dynamic stability of the position (or force) control under the FMRC (or PMRC) is analyzed. Results indicate that PMRC, although providing better dynamic performance of the position control, may degrade the dynamic performance of the force control. However, FMRC can provide better dynamic performance of both position and force control
Keywords
force control; position control; robots; stability; dynamic performance; dynamic stability; force model referenced control; position model referenced control; Adaptive control; Error correction; Force control; Frequency; Laplace equations; Pi control; Proportional control; Robot kinematics; Steady-state; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131575
Filename
131575
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