REVIEW AND UNIFICATION OF REDUCED-ORDER FORCE CONTROL METHODS

被引：15

作者：

GRABBE, MT

CARROLL, JJ

DAWSON, DM

QU, Z

机构：

[1] CLEMSON UNIV, DEPT ELECT & COMP ENGN, CLEMSON, SC 29634 USA

[2] UNIV CENT FLORIDA, DEPT ELECT ENGN, ORLANDO, FL 32816 USA

来源：

JOURNAL OF ROBOTIC SYSTEMS | 1993年 / 10卷 / 04期

关键词：

D O I：

10.1002/rob.4620100406

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this article, we compare some of the recent methods developed for simultaneous position and force control of a single n-link constrained robot manipulator. Mathematical models of the constrained manipulator are introduced and the advantages and disadvantages of the associated control formulations are discussed. The similarities between each of the proposed formulations are also highlighted. Finally, a transformation is presented that generalizes the methods of decoupling force from the position dynamics.

引用

页码：481 / 504

页数：24

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