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http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/5599Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.creator | Eppinger, Steven D. | - |
| dc.creator | Seering, Warren P. | - |
| dc.date | 2004-10-01T20:10:33Z | - |
| dc.date | 2004-10-01T20:10:33Z | - |
| dc.date | 1986-07-01 | - |
| dc.date.accessioned | 2013-10-09T02:40:15Z | - |
| dc.date.available | 2013-10-09T02:40:15Z | - |
| dc.date.issued | 2013-10-09 | - |
| dc.identifier | AIM-910 | - |
| dc.identifier | http://hdl.handle.net/1721.1/5599 | - |
| dc.identifier.uri | http://koha.mediu.edu.my:8181/xmlui/handle/1721 | - |
| dc.description | For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be limited to unsatisfactory closed-loop performance. This paper discusses the particular dynamic properties of robot systems which can lead to instability and limit performance. A series of lumped-parameter models is developed in an effort to predict the closed-loop dynamics of a force-controlled single axis arm. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics. The qualitative analysis shows that the robot dynamics contribute to force-controlled instability. Recommendations are made for models to be used in control system design. | - |
| dc.format | 15 p. | - |
| dc.format | 1871574 bytes | - |
| dc.format | 705592 bytes | - |
| dc.format | application/postscript | - |
| dc.format | application/pdf | - |
| dc.language | en_US | - |
| dc.relation | AIM-910 | - |
| dc.subject | robot dynamics | - |
| dc.subject | robot modeling | - |
| dc.subject | force control | - |
| dc.subject | dynamics ofsforce control | - |
| dc.title | On Dynamic Models of Robot Force Control | - |
| Appears in Collections: | MIT Items | |
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