DocumentCode
1634243
Title
Force controlled surface following without stability problems
Author
Trevelyan, James
Author_Institution
Dept. of Mech. & Mater. Eng., Western Australia Univ., Nedlands, WA, Australia
fYear
1992
Firstpage
247
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/TENCON.1992.271946
Filename
271946
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