Show simple item record

Compliance and Force Control for Computer Controlled Manipulators

dc.date.accessioned2004-10-20T20:06:09Z
dc.date.accessioned2018-11-24T10:22:23Z
dc.date.available2004-10-20T20:06:09Z
dc.date.available2018-11-24T10:22:23Z
dc.date.issued1979-04-01en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/6908
dc.identifier.urihttp://repository.aust.edu.ng/xmlui/handle/1721.1/6908
dc.description.abstractCompliant motion occurs when the manipulator position is constrained by the task geometry. Compliant motion may be produced either by a passive mechanical compliance built in to the manipulator, or by an active compliance implemented in the control servo loop. The second method, called force control, is the subject of this report. In particular, this report presents a theory of force control based on formal models of the manipulator, and the task geometry. The ideal effector is used to model the manipulator, and the task geometry is modeled by the ideal surface, which is the locus of all positions accessible to the ideal effector. Models are also defined for the goal trajectory, position control, and force control.en_US
dc.format.extent4736876 bytes
dc.format.extent3295402 bytes
dc.language.isoen_US
dc.titleCompliance and Force Control for Computer Controlled Manipulatorsen_US


Files in this item

FilesSizeFormatView
AITR-515.pdf3.295Mbapplication/pdfView/Open
AITR-515.ps4.736Mbapplication/postscriptView/Open

This item appears in the following Collection(s)

Show simple item record