Title :
Modeling robot flexibility for endpoint force control
Author :
Eppinger, Steven D. ; Seering, Warren P.
Author_Institution :
Artificial Intelligence Lab., MIT, Cambridge, MA, USA
Abstract :
Dynamic models have been developed in an attempt to match the response of a robot arm. The experimental data show rigid-body and five resonant modes. The frequency response and pole-zero arrays for various models of structural flexibility are compared with the data to evaluate the characteristics of the models, and to provide insight into the nature of the flexibility in the robot. Certain models are better able to depict transmission flexibility white others describe types of structural flexibility
Keywords :
control system analysis; force control; frequency response; poles and zeros; robots; dynamic models; endpoint force control; frequency response; pole-zero arrays; robot arm; structural flexibility; Actuators; Bandwidth; Force control; Force feedback; Force measurement; Force sensors; Position control; Position measurement; Robotic assembly; Robots;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12042
