Title :
Research on simulation of redundant robot force control
Author :
Cui, Ze ; Wang, Xiang-Can ; Qian, Dong-Hai ; Gong, Zhen-Bang
Author_Institution :
Dept. of Precision Mech. Eng., Shanghai Univ., Shanghai
Abstract :
Kinematically redundant robots have some advantages when compared with classic ones because they have the redundant degrees of freedom to optimize the performance of the robot system. Base on gradient projection method, the problems of redundant robot force control are studied in this paper. A co-simulation platform using ADAMS and Matlab is built for verify the force control law. The simulation results demonstrate the feasibility of simulation prior to real applications.
Keywords :
force control; gradient methods; redundant manipulators; robot kinematics; ADAMS simulation platform; Matlab simulation platform; gradient projection method; redundant robot force control; Biomimetics; Cost function; Force control; Manipulators; Mechanical engineering; Mechatronics; Orbital robotics; Robot control; Robot kinematics; Robotics and automation; Co-simulation; Force control; Redundant robot;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522416
