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dc.contributor.authorEppinger, Steven D.en_US
dc.contributor.authorSeering, Warren P.en_US
dc.date.accessioned2004-10-01T20:10:33Z
dc.date.available2004-10-01T20:10:33Z
dc.date.issued1986-07-01en_US
dc.identifier.otherAIM-910en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/5599
dc.description.abstractFor 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.en_US
dc.format.extent15 p.en_US
dc.format.extent1871574 bytes
dc.format.extent705592 bytes
dc.format.mimetypeapplication/postscript
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.relation.ispartofseriesAIM-910en_US
dc.subjectrobot dynamicsen_US
dc.subjectrobot modelingen_US
dc.subjectforce controlen_US
dc.subjectdynamics ofsforce controlen_US
dc.titleOn Dynamic Models of Robot Force Controlen_US


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