ISSN:
1573-0409
Keywords:
Stiffness control
;
Cartesian control
;
robot control algorithms
;
control system architectures
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract The programmability of Cartesian stiffness in Cartesian servo control algorithms that do not use explicit force feedback is examined. A number of Cartesian algorithms are implemented and evaluated on a commercial seven degree-of-freedom robot arm, using the NASREM robot control system testbed. It is found that Cartesian servo algorithms which use the transpose of the Jacobian and model-based gravity compensation, provide easy programmability and accurate reproduction of stiffnesses over a wide range. When dynamic behavior is a consideration, dynamic damping control, augmented to include a parameterization of the manipulator self-motion, provides superior performance and programmability.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF00357127
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