DocumentCode
3235048
Title
Position and force control by reaction compensation
Author
Tanner, G. ; Kyriakopoulos, E.J.
Author_Institution
Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Greece
Volume
4
fYear
2001
fDate
2001
Firstpage
3926
Abstract
The paper presents a new position/force controller, based on the philosophy of the parallel approach. The controller exploits the reaction compensation action of the inverse dynamics position controller and achieves superior transient performance. It incorporates a velocity dependent damping term. Stability is established and conditions for the control parameters are derived. Performance of the proposed controller is verified through computer simulations.
Keywords
digital simulation; force control; manipulator dynamics; position control; stability; three-term control; inverse dynamics position controller; parallel approach; reaction compensation; transient performance; Control systems; Damping; Error correction; Force control; Force measurement; Impedance; Laboratories; Mechanical engineering; Stability; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933229
Filename
933229
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