Understanding Bandwidth Limitations in Robot Force Control.

Abstract

This paper provides an analytical overview of the dynamics involved in force control. Models are developed which demonstrate, for the one-axis explicit force control case, the effects on system closed-loop bandwidth of a) robot system dynamics that are not usually considered in the controller design; b) drive-train and task nonlinearities; and c) actuator and controller dynamics. The merits and limitations of conventional solutions are weighed, and some new solutions are proposed. COnclusions are drawn which give insights into the relative of the effects discussed. Keywords: Robot dynamics; Robot force control; Robot control. (rh)

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1987
Accession Number
ADA195927

Entities

People

  • Steven D. Eppinger
  • Warren P. Seering

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Actuators
  • Artificial Intelligence
  • Automation
  • Bandwidth
  • Cartesian Coordinates
  • Closed Loop Systems
  • Compensators
  • Computer-Integrated Manufacturing
  • Computers
  • Control Systems
  • Feedback
  • Filtration
  • Frequency
  • High Gain
  • Linear Systems
  • Military Research
  • Simulations

Readers

  • Control Systems Engineering.
  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - DoD AI Strategy
  • Autonomy