OTHER
On dynamic models of robot force control
Steven D. Eppinger, Warren Seering
- Year
- 1986
- Citations
- 203
Abstract
A series of lumped-parameter models is developed in an effort to predict the dynamics of simple force-controlled robot systems. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics. A qualitative analysis suggests that the robot dynamics contribute to force-controlled instability.
Keywords
RobotDynamics (music)Computer scienceControl theory (sociology)System dynamicsControl engineeringSeries (stratigraphy)Control (management)SimulationEngineering
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