Three dynamic problems in robot force control
- 7 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Three dynamic problems which arise in robot systems are discussed: rigid-body bandwidth; dynamically noncolocated flexible modes; and dynamically colocated flexible modes. These effects combine to set the closed-loop bandwidth achievable in the individual joint control loops. Simple models of robot systems are presented to illustrate these three dynamic effects. Some laboratory data are then presented and analyzed in these terms. Finally, the implications for robot system design is discussed in the hope that these issues will be considered in the development of the next generation of robot systems and machine tools.Keywords
This publication has 7 references indexed in Scilit:
- Understanding bandwidth limitations in robot force controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Historical perspective and state of the art in robot force controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- High bandwidth force regulation and inertia reduction using a macro/micro manipulator systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Modeling the Vibration of Systems Whose Configuration Can VaryJournal of Mechanical Design, 1989
- Dynamic Models for Control System Design of Integrated Robot and Drive SystemsJournal of Dynamic Systems, Measurement, and Control, 1985
- Initial Experiments on the End-Point Control of a Flexible One-Link RobotThe International Journal of Robotics Research, 1984
- Basic relations for control of flexible vehiclesAIAA Journal, 1970