Title :
Historical perspective and state of the art in robot force control
Author :
Whitney, Daniel E.
Author_Institution :
Charles Stark Draper Laboratory, Inc., Cambridge, MA
Abstract :
This presentation combines historical lineage, assessment of the state of the art, and representative videotapes on robot force control. The difference between continuous and logic branching strategies is described. The development of various impedance strategies and hybrid methods is traced and compared. The problem of stability is discussed and remedies are related to higher strategy issues.
Keywords :
Arm; Control systems; Delay; Force control; Force feedback; Logic; Manipulators; Master-slave; Robots; Stability;
Conference_Titel :
Robotics and Automation. Proceedings. 1985 IEEE International Conference on
DOI :
10.1109/ROBOT.1985.1087266
