STABILITY ANALYSIS OF POSITION AND FORCE CONTROL FOR ROBOT ARMS

被引：63

作者：

WEN, JT

MURPHY, S

机构：

[1] Department of Electrical Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1991年 / 36卷 / 03期

关键词：

D O I：

10.1109/9.73573

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A stability analysis for robot manipulators under the influence of external forces is presented. Several control objectives are considered: rejecting the external force as a source of disturbance, complying to the external force as a generalized mass-spring-damper system, and actively controlling the external force when a dynamic model for the environment is available.

引用

页码：365 / 370

页数：6

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