Force Control

Rolf Johansson, Klas Nilsson, Anders Robertsson

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKapitel samlingsverkForskningPeer review

Sammanfattning

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.
Originalspråkengelska
Titel på värdpublikationHandbook of Manufacturing Engineering and Technology
RedaktörerAndrew Y. C. Nee
FörlagSpringer
Sidor1933-1965
ISBN (tryckt)978-1-4471-4669-8, 978-1-4471-4670-4
DOI
StatusPublished - 2015

Ämnesklassifikation (UKÄ)

  • Robotteknik och automation
  • Reglerteknik

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