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
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;
Conference_Titel :
American Control Conference, 1990
Conference_Location :
San Diego, CA, USA
