DocumentCode
1864155
Title
Virtual environment for robot force control
Author
Fraisse, P. ; Pierrot, F. ; Dauchez, P.
Author_Institution
LIRMM-UMR, Montpellier Univ., France
fYear
1993
fDate
2-6 May 1993
Firstpage
219
Abstract
The authors present a new concept in robot force control: the virtual environment concept. This concept is a way to increase the robustness of force control schemes with respect to a variation of the environment characteristics. This approach is presented, analyzed, and adapted to robot force control. Simulation results are presented to prove the efficiency of the method
Keywords
computerised control; force control; robots; hybrid scheme; robot force control; robustness; simulation; virtual control law; virtual environment concept; Actuators; Control systems; Force control; Integral equations; Manipulators; Robots; Robust control; Robustness; Springs; Virtual environment;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.291986
Filename
291986
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