DocumentCode
488569
Title
Stability Analysis of Position and Force Control Problems for Robot Arms
Author
Wen, John T. ; Murphy, Steve
Author_Institution
Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12181
fYear
1990
fDate
23-25 May 1990
Firstpage
2806
Lastpage
2811
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 to the external force as a generalized mass-spring-damper system, and actively controlling the external force when a dynamic model for the environment is available.
Keywords
End effectors; Force control; Force feedback; Force measurement; Impedance; Manipulators; Position control; Robots; Stability analysis; Steady-state;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1990
Conference_Location
San Diego, CA, USA
Type
conf
Filename
4791232
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