Robust impedance control - force regulation /
During many robot tasks a relatively permanent contact of the robot with the environment is needed. To be obale to cope with these tasks a robot must be equipped with a position/force or an impedance controller. Therefore, control algorithms with position tracking performance and force control abili...
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Main Authors: | , , , |
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Format: | Book Chapter |
Jezik: | English |
Teme: | |
Sorodne knjige/članki: | Vsebovano v:
Life cycle approaches to production systems |
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Izvleček: | During many robot tasks a relatively permanent contact of the robot with the environment is needed. To be obale to cope with these tasks a robot must be equipped with a position/force or an impedance controller. Therefore, control algorithms with position tracking performance and force control ability are required. Our algorithm was tested on a simple 1 DOF mechanism and the results of force regulation show a good force tracking performance. In future, implementation on the laboratory 3 DOF DD robot will take place. |
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Fizični opis: | 2 str. |