Playback Control of Force Teachable Robots
نویسندگان
چکیده
منابع مشابه
Force control of robots with nonlinearities
This paper explores two practical issues related to the force control of manipulators. The first issue examined is how system stability is effected by commonly occurring manipulator nonlinearities, such as sampled-data, control signal saturation and slip-stick friction. It is shown that discretely implemented force control algorithms can drive the feedback force controlled manipulator into a li...
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Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1979
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.15.410