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: | Eppinger, Steven D., Seering, Warren P. |
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Language: | en_US |
Published: |
2004
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Online Access: | http://hdl.handle.net/1721.1/6463 |
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