OTHER
Three dynamic problems in robot force control
Steven D. Eppinger, Warren Seering
- Year
- 1992
- Citations
- 105
Abstract
Three dynamic characteristics of robot systems are discussed: rigid-body bandwidth, dynamically noncolocated flexible modes, and dynamically colocated flexible modes. All of these combine to limit the closed-loop bandwidth achievable in the individual joint control loops of the robot. They play a particularly important role in establishing performance limits for robots under force control.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
RobotBandwidth (computing)Computer scienceLimit (mathematics)Control theory (sociology)Control engineeringControl (management)Artificial intelligenceEngineeringMathematics
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