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 |