Compliance and Force Control for Computer Controlled Manipulators

Title: en_US Compliance and Force Control for Computer Controlled Manipulators
Creator: en_US Mason, Matthew Thomas
Date: 2004-10-20T20:06:09Z
Date Available: 2004-10-20T20:06:09Z
Date Issued: en_US 1979-04-01
Identifier: en_US AITR-515
uri: http://hdl.handle.net/1721.1/6908
Abstract: en_US Compliant 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.
Extent: 4736876 bytes; 3295402 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-515