Three dynamic problems in robot force control

摘要

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">&gt;</ETX>