Title :
Force controlled surface following without stability problems
Author :
Trevelyan, James
Author_Institution :
Dept. of Mech. & Mater. Eng., Western Australia Univ., Nedlands, WA, Australia
Abstract :
The tracking of an unknown surface with a sensor controlled robot is used in sheep shearing robotics. There are intrinsic control stability problems associated with such sensor controlled robots when they are used in this way. These stability problems can be overcome by combining an active and passive control method and using an open loop force control. Specific issues addressed include the bandwidth problem, position control and the use of a hybrid follower
Keywords :
force control; position control; robots; stability; active control; bandwidth; force controlled surface following; hybrid follower; open loop force control; passive control; position control; sensor controlled robot; sheep shearing robotics; Bandwidth; Force control; Manipulators; Open loop systems; Robot control; Robot sensing systems; Shearing; Skin; Springs; Stability;
Conference_Titel :
TENCON '92. ''Technology Enabling Tomorrow : Computers, Communications and Automation towards the 21st Century.' 1992 IEEE Region 10 International Conference.
Conference_Location :
Melbourne, Vic.
Print_ISBN :
0-7803-0849-2
DOI :
10.1109/TENCON.1992.271946
