Force Control
Författare
Redaktör
- Andrew Y. C. Nee
Summary, in English
Robotic force control refers to the control and programmable
specification of the interaction forces between a robot end effector
and the work object, where either the end effector or the work object
is attached to the robot manipulator. A rudimentary approach is to
consider the joint torques and controlled variables, and then to
compute those torques such that a presumably rigid manipulator
effectuates the desired forces. In practice, however, manipulators are
not rigid, joint torques are accomplished from servo-controlled motors
via joint transmissions with nonlinear dynamics, the control structure
has to obey stake-holder aspects in industry. Based on algorithmic
insights and experiences from industrial applications, the force
control topic is explained with core scientific approaches as the
starting point, then extending the descriptions such that the
industrial aspects are covered via established principles for joint
servo control.
specification of the interaction forces between a robot end effector
and the work object, where either the end effector or the work object
is attached to the robot manipulator. A rudimentary approach is to
consider the joint torques and controlled variables, and then to
compute those torques such that a presumably rigid manipulator
effectuates the desired forces. In practice, however, manipulators are
not rigid, joint torques are accomplished from servo-controlled motors
via joint transmissions with nonlinear dynamics, the control structure
has to obey stake-holder aspects in industry. Based on algorithmic
insights and experiences from industrial applications, the force
control topic is explained with core scientific approaches as the
starting point, then extending the descriptions such that the
industrial aspects are covered via established principles for joint
servo control.
Avdelning/ar
Publiceringsår
2015
Språk
Engelska
Sidor
1933-1965
Publikation/Tidskrift/Serie
Handbook of Manufacturing Engineering and Technology
Dokumenttyp
Del av eller Kapitel i bok
Förlag
Springer
Ämne
- Robotics
- Control Engineering
Status
Published
Projekt
- LCCC
- LU Robotics Laboratory
Forskningsgrupp
- ELLIIT
- LCCC
ISBN/ISSN/Övrigt
- ISBN: 978-1-4471-4669-8
- ISBN: 978-1-4471-4670-4