Title :
Three dynamic problems in robot force control
Author :
Eppinger, Steven D. ; Seering, Warren P.
Author_Institution :
MIT, Cambridge, MA, USA
fDate :
12/1/1992 12:00:00 AM
Abstract :
Three dynamic characteristics of robot systems are discussed: rigid-body bandwidth, dynamically noncolocated flexible modes, and dynamically colocated flexible modes. All of these combine to limit the closed-loop bandwidth achievable in the individual joint control loops of the robot. They play a particularly important role in establishing performance limits for robots under force control
Keywords :
closed loop systems; dynamics; force control; robots; closed-loop bandwidth; dynamically colocated flexible modes; dynamically noncolocated flexible modes; joint control loops; rigid-body bandwidth; robot force control; Actuators; Automatic control; Bandwidth; Electrical equipment industry; Force control; Manipulators; Position control; Robot sensing systems; Robotics and automation; Service robots;
Journal_Title :
Robotics and Automation, IEEE Transactions on
