CONSTRAINED MOTION (FORCE/POSITION) CONTROL OF FLEXIBLE-JOINT ROBOTS

被引：8
作者：
AHMAD, S
机构：
[1] School of Electrical Engineering, Purdue University, West Lafayette, IN
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1993年 / 23卷 / 02期
关键词：
D O I：
10.1109/21.229451
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
A control scheme to perform force/position control with flexible joint robots when the end effector is constrained to move along a frictionless curved surface represented by algebraic constraints is developed. The described control scheme involves the exact cancellation of the nonlinear terms of the projected end effector dynamics in the position and force controlled directions. It is shown it is not necessary to employ end-effector force sensors in order to control a desired force trajectory in the force controlled directions and a desired end-effector position trajectory along the position controlled directions. Measurements of joint acceleration and jerk are also not necessary.
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页码：374 / 381
页数：8
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