Title :
Assessment of position/force dynamic control performances for advanced robotics
Author :
Acaccia, G.M. ; Michelini, R.C. ; Molfino, R.M. ; Recine, M.A.
Author_Institution :
Genova Univ., Italy
Abstract :
The improvement of the operational ranges in dexterity, accuracy and efficiency for advanced robotic applications, that embed hybrid dynamic control capability, is investigated, after a short survey of the pertinent literature. The performance requirements are contrasted to the on-process availability of the reference relational knowledge; the assessment of the functional ranges expansion is provided by appropriate CAD-facilities, based on a purposely developed modular simulational environment SIRIHD.<>
Keywords :
CAD; force control; position control; robots; solid modelling; CAD-facilities; SIRIHD; accuracy; advanced robotics; dexterity; efficiency; hybrid dynamic control capability; modular simulational environment; operational ranges; position/force dynamic control; reference relational knowledge; solid modelling; Actuators; Availability; Force control; Impedance; Industrial control; Intelligent robots; Nonlinear control systems; Service robots; Testing; Uncertainty;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240533
