DocumentCode
3321402
Title
Position and force control of robot arms
Author
Wen, John T.
Author_Institution
Dept. of Electr., Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
fYear
1989
fDate
25-26 Sep 1989
Firstpage
251
Lastpage
256
Abstract
A stability analysis for robot manipulators under the influence of external forces is presented. Several control objectives are considered: rejecting the external force as a source of disturbance, complying with the external force as a generalized mass-spring-damper system, and actively controlling the external force when a dynamic model of the environment is available. In each of these cases, a stability analysis using the Lyapunov method is presented
Keywords
Lyapunov methods; force control; industrial robots; position control; stability; Lyapunov method; control objectives; dynamic model; force control; generalized mass-spring-damper system; position control; robot arms; robot manipulators; stability analysis; End effectors; Force control; Force feedback; Manipulators; Position control; Robots; Robust stability; Stability analysis; Steady-state; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 1989. Proceedings., IEEE International Symposium on
Conference_Location
Albany, NY
ISSN
2158-9860
Print_ISBN
0-8186-1987-2
Type
conf
DOI
10.1109/ISIC.1989.238685
Filename
238685
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