Understanding Bandwidth Limitations in Robot Force Control
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...
| Main Authors: | , |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6463 |
| _version_ | 1811074188488736768 |
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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 | 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 importance of the effects discussed. |
| first_indexed | 2024-09-23T09:45:21Z |
| id | mit-1721.1/6463 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:45:21Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/64632019-04-12T08:30:54Z Understanding Bandwidth Limitations in Robot Force Control Eppinger, Steven D. Seering, Warren P. 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 importance of the effects discussed. 2004-10-04T14:57:13Z 2004-10-04T14:57:13Z 1987-08-01 AIM-948 http://hdl.handle.net/1721.1/6463 en_US AIM-948 2557624 bytes 888330 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Eppinger, Steven D. Seering, Warren P. Understanding Bandwidth Limitations in Robot Force Control |
| title | Understanding Bandwidth Limitations in Robot Force Control |
| title_full | Understanding Bandwidth Limitations in Robot Force Control |
| title_fullStr | Understanding Bandwidth Limitations in Robot Force Control |
| title_full_unstemmed | Understanding Bandwidth Limitations in Robot Force Control |
| title_short | Understanding Bandwidth Limitations in Robot Force Control |
| title_sort | understanding bandwidth limitations in robot force control |
| url | http://hdl.handle.net/1721.1/6463 |
| work_keys_str_mv | AT eppingerstevend understandingbandwidthlimitationsinrobotforcecontrol AT seeringwarrenp understandingbandwidthlimitationsinrobotforcecontrol |