Mechanically Implementable Accommodation Matrices for Passive Force Control
نویسندگان
چکیده
منابع مشابه
Mechanically Implementable Accommodation Matrices for Passive Force Control
Robot force control implemented by means of passive mechanical devices has inherent advantages over active implementations with regard to stability, response rapidity, and physical robustness. The class of devices considered in this paper consists of a Stewart platform-type mechanism interconnected with a network of adjustable mechanical elements such as springs and dampers. The control law rep...
متن کاملImplementable Accommodation Matrices for Passive Force Control
Robot force control implemented by means of passive mechanical devices has inherent advantages over active implementations with regard to stability, response rapidity, and physical robustness. The class of devices considered in this paper consists of a Stewart platform-type mechanism interconnected with a network of adjustable mechanical elements such as springs and dampers. The control law rep...
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Force control implemented by a passive mechanical device (perhaps a wrist) has inherent advantages over active implementations. A passive mechanical device can regain some of the versatility of its active counterpart if it incorporates mechanical elements with programmable parameters, e.g. damping coefficients or spring stiffnesses. We wish to characterize the range of accommodation matrices th...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 1999
ISSN: 0278-3649,1741-3176
DOI: 10.1177/02783649922066592