ROBOT FORCE CONTROL - A REVIEW

被引：38

作者：

PATARINSKI, SP

BOTEV, RG

机构：

[1] BULGARIAN ACAD SCI,INST MECH & BIOMECH,DEPT ROBOT & MECHATRON,BU-1113 SOFIA,BULGARIA

[2] TECH UNIV SOFIA,DEPT ROBOT,BU-1156 SOFIA,BULGARIA

来源：

MECHATRONICS | 1993年 / 3卷 / 04期

关键词：

D O I：

10.1016/0957-4158(93)90012-Q

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 paper presents a systematic overview of the basic ideas in force control of robot manipulators (RM). The problems of modeling robot-environment force interaction, adequate task description and combined position/force control are summarized. Various approaches to stability and robustness analyses of force controlled RM systems are considered. The impact of force control concepts on mechatronics design, multi-arm cooperation, robot programming, sensing, etc. is discussed.

引用

页码：377 / 398

页数：22

共 92 条

[1]

ALBERTS TE, 1988, 1988 P IEEE INT C RO, P1490

[2]

AN C, 1989, INT J ROBOT RES, P51

[3]

AN CH, 1987, IEEE T ROBOTIC AUTOM, P897

[4]

[Anonymous], 1987, ROBOTICS CONTROL SEN

[5]

ARMSTRONG B, 1988, IEEE T ROBOTIC AUTOM, P1422

[6]

ASADA H, 1987, IEEE T ROBOTIC AUTOM, P751

[7]

CAI C, 1990, IEEE T ROBOTIC AUTOM, P1356

[8] AN APPROACH TO FORCE AND POSITION CONTROL OF ROBOT MANIPULATORS [J].

CAI, L ;

GOLDENBERG, AA .

PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, :86-91

[9]

CAI L, 1988, IEEE T ROBOTIC AUTOM, P1010

[10]

CHEN YH, 1989, IEEE INT C ROB AUT S, P236

← 1 2 3 4 5 6 7 8 9 10 →