3 DYNAMIC PROBLEMS IN ROBOT FORCE CONTROL

被引：72

作者：

EPPINGER, SD ^{[1
]}

SEERING, WP ^{[1
]}

机构：

[1] MIT,DEPT MECH ENGN,CAMBRIDGE,MA 02139

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1992年 / 8卷 / 06期

关键词：

D O I：

10.1109/70.182675

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The dynamic characteristics of a mechanical system constrain system performance. Three dynamic characteristics of robot systems are discussed here: 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.

引用

页码：751 / 758

页数：8

共 14 条

[1] AN CH, 1987, IEEE T ROBOTIC AUTOM, P890
[2] Blevins R, 1979, FORMULAS NATURAL FRE
[3] INITIAL EXPERIMENTS ON THE ENDPOINT CONTROL OF A FLEXIBLE ONE-LINK ROBOT
CANNON, RH
SCHMITZ, E
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1984, 3 (03) : 62 - 75
[4] COLGATE JE, 1987, MODELING CONTROL ROB
[5] EPPINGER SD, 1987, IEEE T ROBOTIC AUTOM, P904
[6] GARCIAREYNOSO A, 1989, ASME J MECHANISM MAR
[7] BASIC RELATIONS FOR CONTROL OF FLEXIBLE VEHICLES
GEVARTER, WB
[J]. AIAA JOURNAL, 1970, 8 (04) : 666 - &
[8] GOOD MC, 1985, ASME J DYNAM SYST ME, P53
[9] HOLLARS MG, 1985, NOV ASME WINT ANN M
[10] SHARON A, 1988, APR P IEEE INT C ROB, P126

← 1 2 →