Simultaneous velocity, impact and force control

被引：8

作者：

Zotovic Stanisic, Ranko ^{[1
]}

Valera Fernandez, Angel ^{[1
]}

机构：

[1] Univ Politecn Valencia, Valencia 46022, Spain

来源：

ROBOTICA | 2009年 / 27卷

关键词：

Robot; Force control; Impact Control; Switching; MANIPULATORS; TRACKING;

D O I：

10.1017/S0263574709005451

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, we propose a control method to achieve three objectives simultaneously: velocity regulation during free motion, impact damping and finally force reference tracking. During impact, the parameters are switched in order to dissipate the energy of the system as fast as possible and the optimal switching criteria are deduced. The possibility of sliding regimes is analysed and the theoretical results are verified in simulations.

引用

收藏

页码：1039 / 1048

页数：10

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