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.
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页码：183 / 186
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