DocumentCode :
3179438
Title :
Analysis of force control based on linear models
Author :
Goldenberg, A.A.
Author_Institution :
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
fYear :
1992
fDate :
12-14 May 1992
Firstpage :
1348
Abstract :
The author addresses force control of robot manipulators. It is shown that from a linear system point of view the methods proposed in the literature are equivalent to state an/for output variable feedback, and the stability, for measurement performed either in joint or task space coordinates, can be established through similarity transformations. However, when selection matrices are used, the stability is affected by the choice of compensation in terms of task or joint space coordinates. Using linear models, it is argued that many different methods are analytically equivalent, hence the suggested improvements are inconclusive unless considerations of hardware-, software-, and equipment-specific data are taken into account
Keywords :
control system analysis; feedback; force control; robots; control analysis; force control; joint space coordinates; linear models; output variable feedback; similarity transformations; state feedback; task space coordinates; Coordinate measuring machines; Force control; Linear systems; Manipulators; Orbital robotics; Output feedback; Performance evaluation; Robot kinematics; Stability; State feedback;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
Type :
conf
DOI :
10.1109/ROBOT.1992.220162
Filename :
220162
Link To Document :
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