Accession Number : ADA195927

Title :   Understanding Bandwidth Limitations in Robot Force Control.

Descriptive Note : Memorandum rept.,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s) : Eppinger, Steven D ; Seering, Warren P

PDF Url : ADA195927

Report Date : Aug 1987

Pagination or Media Count : 20

Abstract : 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 of the effects discussed. Keywords: Robot dynamics; Robot force control; Robot control. (rh)

Descriptors :   *CONTROL, *ROBOTS, ACTUATORS, BANDWIDTH, CLOSED LOOP SYSTEMS, DYNAMICS, LIMITATIONS, NONLINEAR SYSTEMS, SOLUTIONS(GENERAL)

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE