3 DYNAMIC PROBLEMS IN ROBOT FORCE CONTROL

被引：74

作者：

EPPINGER, SD ^{[1
]}

SEERING, WP ^{[1
]}

机构：

[1] MIT,DEPT MECH ENGN,CAMBRIDGE,MA 02139

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1992年 / 8卷 / 06期

关键词：

D O I：

10.1109/70.182675

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The dynamic characteristics of a mechanical system constrain system performance. Three dynamic characteristics of robot systems are discussed here: rigid-body bandwidth, dynamically noncolocated flexible modes, and dynamically colocated flexible modes. All of these combine to limit the closed-loop bandwidth achievable in the individual joint control loops of the robot. They play a particularly important role in establishing performance limits for robots under force control.

引用

页码：751 / 758

页数：8

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