dc.date.accessioned | 2004-10-01T20:10:33Z | |
dc.date.accessioned | 2018-11-24T10:09:42Z | |
dc.date.available | 2004-10-01T20:10:33Z | |
dc.date.available | 2018-11-24T10:09:42Z | |
dc.date.issued | 1986-07-01 | en_US |
dc.identifier.uri | http://hdl.handle.net/1721.1/5599 | |
dc.identifier.uri | http://repository.aust.edu.ng/xmlui/handle/1721.1/5599 | |
dc.description.abstract | For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be limited to unsatisfactory closed-loop performance. This paper discusses the particular dynamic properties of robot systems which can lead to instability and limit performance. A series of lumped-parameter models is developed in an effort to predict the closed-loop dynamics of a force-controlled single axis arm. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics. The qualitative analysis shows that the robot dynamics contribute to force-controlled instability. Recommendations are made for models to be used in control system design. | en_US |
dc.format.extent | 15 p. | en_US |
dc.format.extent | 1871574 bytes | |
dc.format.extent | 705592 bytes | |
dc.language.iso | en_US | |
dc.subject | robot dynamics | en_US |
dc.subject | robot modeling | en_US |
dc.subject | force control | en_US |
dc.subject | dynamics ofsforce control | en_US |
dc.title | On Dynamic Models of Robot Force Control | en_US |