DocumentCode
3453272
Title
Research on simulation of redundant robot force control
Author
Cui, Ze ; Wang, Xiang-Can ; Qian, Dong-Hai ; Gong, Zhen-Bang
Author_Institution
Dept. of Precision Mech. Eng., Shanghai Univ., Shanghai
fYear
2007
fDate
15-18 Dec. 2007
Firstpage
1669
Lastpage
1674
Abstract
Kinematically redundant robots have some advantages when compared with classic ones because they have the redundant degrees of freedom to optimize the performance of the robot system. Base on gradient projection method, the problems of redundant robot force control are studied in this paper. A co-simulation platform using ADAMS and Matlab is built for verify the force control law. The simulation results demonstrate the feasibility of simulation prior to real applications.
Keywords
force control; gradient methods; redundant manipulators; robot kinematics; ADAMS simulation platform; Matlab simulation platform; gradient projection method; redundant robot force control; Biomimetics; Cost function; Force control; Manipulators; Mechanical engineering; Mechatronics; Orbital robotics; Robot control; Robot kinematics; Robotics and automation; Co-simulation; Force control; Redundant robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location
Sanya
Print_ISBN
978-1-4244-1761-2
Electronic_ISBN
978-1-4244-1758-2
Type
conf
DOI
10.1109/ROBIO.2007.4522416
Filename
4522416
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