FORCE COMPLIANT MOTION IN A POSITION CONTROLLED MANIPULATOR.

被引：0
|
作者：
Hendy, B.G. [1 ]
Holzer, A.J. [1 ]
机构：
[1] RMIT, Aust, RMIT, Aust
来源：
Transactions of the Institution of Engineers, Australia. Mechanical engineering | 1985年 / ME 10卷 / 03期
关键词：
CONTROL; MECHANICAL VARIABLES - Position - EQUATIONS OF MOTION;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Control of robot manipulators is reviewed with special emphasis on the requirements during fine motion with contact forces. Various approaches to force based control systems are discussed. An approach to force control which can be added on to existing commercial position controllers is presented and an implementation of this scheme is described. The limitations of the approach are pointed out and suggestions for further enhancements made.
引用
收藏
页码：183 / 186
相关论文
共 50 条
  • [1] INVERSE DYNAMICS POSITION CONTROL OF A COMPLIANT MANIPULATOR.
    Forrest-Barlach, M.G.
    Babcock, Scott M.
    IEEE journal of robotics and automation, 1987, RA-3 (01): : 75 - 83
  • [2] SOFTWARE FOR AUTOMATIC MANIPULATION AND ASSEMBLY WITH A COMPLIANT MANIPULATOR.
    Liegeois, A.
    Fournier, A.
    Aldon, M.J.
    Industrial Robot, 1980, 7 (02): : 116 - 119
  • [3] Regulation of force and position for a robot manipulator in contact with a compliant environment
    Villani, L
    Siciliano, B
    de Wit, CC
    ROBOT CONTROL 1997, VOLS 1 AND 2, 1998, : 333 - 338
  • [4] Development and hybrid force/position control of a compliant rescue manipulator
    Wu, Qingcong
    Wang, Xingsong
    Chen, Bai
    Wu, Hongtao
    Shao, Ziyan
    MECHATRONICS, 2017, 46 : 143 - 153
  • [5] General Framework of the Force and Compliant Motion Control for Macro Mini Manipulator
    Arifin, Ahmad Suryo
    Ang, Marcelo H., Jr.
    Lai, Chow Yin
    Lim, Chee Wang
    2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING, 2013, : 949 - 954
  • [6] Learning force control for position controlled robotic manipulator
    Qiao, B
    Zhu, JY
    Wei, ZX
    CIRP ANNALS 1999 - MANUFACTURING TECHNOLOGY, 1999, : 1 - 4
  • [7] Learning force control for position controlled robotic manipulator
    Nanjing Univ. Aero. and Astronaut., Nanjing, China
    CIRP Ann Manuf Technol, 1 (1-4):
  • [8] Integration of planning and execution in force controlled compliant motion
    Meeussen, Wim
    Staffetti, Ernesto
    Bruyninckx, Herman
    Xiao, Jing
    De Schutter, Joris
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2008, 56 (05) : 437 - 450
  • [9] Integration of planning and execution in force controlled compliant motion
    Meeussen, W
    De Schuller, J
    Bruyninckx, H
    Xiao, J
    Staffetti, E
    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, : 2550 - 2555
  • [10] MODELLING THE ELASTIC TRANSMISSIONS OF A COMPUTER-CONTROLLED MANIPULATOR.
    Dombre, E.
    Liegeois, A.
    Borrel, P.
    Journal of Environmental Science and Health, Part B: Pesticides, Food Contaminants, and Agricultural Wastes, 1980, 2
12345