Title :
Position and force controls for two coordinating robots
Author :
Tao, Jian M. ; Luh, J.Y.S.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
Two different control schemes, position model referenced control (PMRC) and force model referenced control (FMRC), are developed for a simplified two robots model with one interacting axis. The dynamic stability of the position (or force) control under the FMRC (or PMRC) is analyzed. Results indicate that PMRC, although providing better dynamic performance of the position control, may degrade the dynamic performance of the force control. However, FMRC can provide better dynamic performance of both position and force control
Keywords :
force control; position control; robots; stability; dynamic performance; dynamic stability; force model referenced control; position model referenced control; Adaptive control; Error correction; Force control; Frequency; Laplace equations; Pi control; Proportional control; Robot kinematics; Steady-state; Weight control;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131575
