Title :
Variations with configuration of the force control transfer functions of a PUMA 560 arm
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
Abstract :
Describes the variations of the end-tip force transfer functions with changes in the robot position and its environment. The study is based on measuring the transfer functions for a wide range of robot positions and workpieces. The purpose of the mapping is to predict, with a finite degree of accuracy, the transfer function for any robot configuration. The ultimate aim of the exercise is the robust force control of the arm
Keywords :
industrial manipulators; PUMA 560 arm; end-tip force transfer functions; robot arm; robot configuration variations; robot environment; robot position; robust force control; workpieces; Force control; Force measurement; Position measurement; Predictive models; Resonance; Resonant frequency; Robots; Robust control; Springs; Transfer functions;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583846
