An architecture for robot force and impact control

被引：0
|
作者：
Ranko, Zotovic [1 ]
Angel, Valera F. [1 ]
Pedro, Garcia G. [1 ]
Angel, Llosa G. [1 ]
机构：
[1] Univ Politecn Valencia, Dept Syst Engn & Control, Camino de Vera S-N, Valencia 46022, Spain
来源：
2006 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2 | 2006年
关键词：
force control; robots; architecture; switched system;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
An architecture for force and impact control is proposed. Its first objective is to control the robot in free motion until the contact with the environment is made. Next, it should make the transition to constrained as smooth as possible. Finally, it should switch to force control in order to assure the tracking of the force reference. An absolute priority is to protect the system against the dangerous peaks of force. Also, loss of contact should be avoided when possible. The performance is improved bN taking care of the accumulation of elastic energy in the robot. Sampling period is changed depending on the state of the system. An experimental platform was developed in order to test the architecture.
引用
收藏
页码：547 / +
页数：2
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