Modeling Robot Flexibility for Endpoint Force Control
Dynamic models have been developed in an attempt to match the response of a robot arm. The experimental data show rigid-body and five resonant modes. The frequency response and pole-zero arrays for various models of structural flexibility are compared with the data to evaluate the characterist...
| Main Authors: | , |
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| Language: | en_US |
| Published: |
2004
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| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/6037 |
| _version_ | 1826196484394057728 |
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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 | Dynamic models have been developed in an attempt to match the response of a robot arm. The experimental data show rigid-body and five resonant modes. The frequency response and pole-zero arrays for various models of structural flexibility are compared with the data to evaluate the characteristics of the models, and to provide insight into the nature of the flexibility in the robot. Certain models are better able to depict transmission flexibility while others describe types of structural flexibility. |
| first_indexed | 2024-09-23T10:27:15Z |
| id | mit-1721.1/6037 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:27:15Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/60372019-04-12T08:28:46Z Modeling Robot Flexibility for Endpoint Force Control Eppinger, Steven D. Seering, Warren P. robot force control robot control robot dynamics flexiblesstructures Dynamic models have been developed in an attempt to match the response of a robot arm. The experimental data show rigid-body and five resonant modes. The frequency response and pole-zero arrays for various models of structural flexibility are compared with the data to evaluate the characteristics of the models, and to provide insight into the nature of the flexibility in the robot. Certain models are better able to depict transmission flexibility while others describe types of structural flexibility. 2004-10-04T14:36:37Z 2004-10-04T14:36:37Z 1988-05-01 AIM-1046 http://hdl.handle.net/1721.1/6037 en_US AIM-1046 18 p. 1938577 bytes 744699 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | robot force control robot control robot dynamics flexiblesstructures Eppinger, Steven D. Seering, Warren P. Modeling Robot Flexibility for Endpoint Force Control |
| title | Modeling Robot Flexibility for Endpoint Force Control |
| title_full | Modeling Robot Flexibility for Endpoint Force Control |
| title_fullStr | Modeling Robot Flexibility for Endpoint Force Control |
| title_full_unstemmed | Modeling Robot Flexibility for Endpoint Force Control |
| title_short | Modeling Robot Flexibility for Endpoint Force Control |
| title_sort | modeling robot flexibility for endpoint force control |
| topic | robot force control robot control robot dynamics flexiblesstructures |
| url | http://hdl.handle.net/1721.1/6037 |
| work_keys_str_mv | AT eppingerstevend modelingrobotflexibilityforendpointforcecontrol AT seeringwarrenp modelingrobotflexibilityforendpointforcecontrol |