Task-level servocontrol in robotics

Author

Bejczy, Antal K.

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

fYear

1997

Firstpage

39

Lastpage

47

Abstract

The application of computers permits the design and implementation of several different types of servocontrol schemes for the control of robot arms. This paper focuses on the description of task-space error feedback techniques which can provide excellent performance for tracking position and force trajectories in both manual and automatic modes of control. Model assumptions and computational requirements implied in these techniques are outlined and the outstanding performance capabilities of the techniques are illustrated by numerous experimental results

Keywords

feedback; manipulators; position control; servomechanisms; automatic control; computational requirements; force trajectories; model errors; performance; position tracking; robot arm control; robotics; servocontrol scheme design; task-level servocontrol; task-space error feedback; Application software; Automatic control; Computer applications; Computer errors; Error correction; Force feedback; Manipulators; Robot control; Robotics and automation; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on

Conference_Location

Budapest

Print_ISBN

0-7803-3627-5

Type

conf

DOI

10.1109/INES.1997.632391

Filename

632391