On Dynamic Models of Robot Force Control
For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be limited to unsatisfactory closed-loop performance. This paper discusses the...
| Main Authors: | , |
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| Language: | en_US |
| Published: |
2004
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| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/5599 |
| _version_ | 1811097374945181696 |
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| author | Eppinger, Steven D. Seering, Warren P. |
| author_facet | Eppinger, Steven D. Seering, Warren P. |
| author_sort | Eppinger, Steven D. |
| collection | MIT |
| description | For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be limited to unsatisfactory closed-loop performance. This paper discusses the particular dynamic properties of robot systems which can lead to instability and limit performance. A series of lumped-parameter models is developed in an effort to predict the closed-loop dynamics of a force-controlled single axis arm. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics. The qualitative analysis shows that the robot dynamics contribute to force-controlled instability. Recommendations are made for models to be used in control system design. |
| first_indexed | 2024-09-23T16:58:28Z |
| id | mit-1721.1/5599 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:58:28Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/55992019-04-11T03:46:04Z On Dynamic Models of Robot Force Control Eppinger, Steven D. Seering, Warren P. robot dynamics robot modeling force control dynamics ofsforce control For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be limited to unsatisfactory closed-loop performance. This paper discusses the particular dynamic properties of robot systems which can lead to instability and limit performance. A series of lumped-parameter models is developed in an effort to predict the closed-loop dynamics of a force-controlled single axis arm. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics. The qualitative analysis shows that the robot dynamics contribute to force-controlled instability. Recommendations are made for models to be used in control system design. 2004-10-01T20:10:33Z 2004-10-01T20:10:33Z 1986-07-01 AIM-910 http://hdl.handle.net/1721.1/5599 en_US AIM-910 15 p. 1871574 bytes 705592 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | robot dynamics robot modeling force control dynamics ofsforce control Eppinger, Steven D. Seering, Warren P. On Dynamic Models of Robot Force Control |
| title | On Dynamic Models of Robot Force Control |
| title_full | On Dynamic Models of Robot Force Control |
| title_fullStr | On Dynamic Models of Robot Force Control |
| title_full_unstemmed | On Dynamic Models of Robot Force Control |
| title_short | On Dynamic Models of Robot Force Control |
| title_sort | on dynamic models of robot force control |
| topic | robot dynamics robot modeling force control dynamics ofsforce control |
| url | http://hdl.handle.net/1721.1/5599 |
| work_keys_str_mv | AT eppingerstevend ondynamicmodelsofrobotforcecontrol AT seeringwarrenp ondynamicmodelsofrobotforcecontrol |