Modeling Robot Dynamic Performance for Endpoint Force Control

Title: en_US Modeling Robot Dynamic Performance for Endpoint Force Control
Creator: en_US Eppinger, Steven D.
Date: 2004-10-20T20:11:36Z
Date Available: 2004-10-20T20:11:36Z
Date Issued: en_US 1988-09-01
Identifier: en_US AITR-1072
uri: http://hdl.handle.net/1721.1/6970
Abstract: en_US This research aims to understand the fundamental dynamic behavior of servo-controlled machinery in response to various types of sensory feedback. As an example of such a system, we study robot force control, a scheme which promises to greatly expand the capabilities of industrial robots by allowing manipulators to interact with uncertain and dynamic tasks. Dynamic models are developed which allow the effects of actuator dynamics, structural flexibility, and workpiece interaction to be explored in the frequency and time domains. The models are used first to explain the causes of robot force control instability, and then to find methods of improving this performance.
Extent: 13438224 bytes; 5252019 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1072