EXPERIMENTAL EVALUATION OF CARTESIAN STIFFNESS CONTROL ON A 7 DEGREE-OF-FREEDOM ROBOT ARM

被引:7
|
作者
FIALA, J
WAVERING, AJ
机构
[1] Robot Systems Division, National Institute of Standards and Technology, Gaithersburg, 20899, MD
关键词
STIFFNESS CONTROL; CARTESIAN CONTROL; ROBOT CONTROL ALGORITHMS; CONTROL SYSTEM ARCHITECTURES;
D O I
10.1007/BF00357127
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
The programmability of Cartesian stiffness in Cartesian servo control algorithms that do not use explicit force feedback is examined. A number of Cartesian algorithms are implemented and evaluated on a commercial seven degree-of-freedom robot arm, using the NASREM robot control system testbed. It is found that Cartesian servo algorithms which use the transpose of the Jacobian and model-based gravity compensation, provide easy programmability and accurate reproduction of stiffnesses over a wide range. When dynamic behavior is a consideration, dynamic damping control, augmented to include a parameterization of the manipulator self-motion, provides superior performance and programmability.
引用
收藏
页码:5 / 24
页数:20
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