MANIPULATOR COMPLIANCE BASED ON JOINT TORQUE CONTROL.

Chi haur Wu*, Richard P. Paul

*Corresponding author for this work

Research output: Contribution to journalConference article

57 Citations (Scopus)

Abstract

An analysis is made of currently existing force sensing techniques concluding that a joint torque sensing technique will results the best performance in a force servo system. A new, simple, high again, wide bandwidth torque servo system using a joint torque sensor system has been developed and has been verified by using a single joint manipulator. An accurate method of selecting the force servo joints to provide compliance has also been developed. Finally, a complete and consistent algorithm for performing compliance is presented.

Original languageEnglish (US)
Pages (from-to)88-94
Number of pages7
JournalProceedings of the IEEE Conference on Decision and Control
Volume1
StatePublished - Jan 1 1980
EventUnknown conference - Albuquerque, NM
Duration: Dec 10 1980Dec 12 1980

Fingerprint

Torque control
Manipulator
Compliance
Manipulators
Torque
Servo System
Servomechanisms
Sensing
Bandwidth
Sensor
Sensors

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

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title = "MANIPULATOR COMPLIANCE BASED ON JOINT TORQUE CONTROL.",
abstract = "An analysis is made of currently existing force sensing techniques concluding that a joint torque sensing technique will results the best performance in a force servo system. A new, simple, high again, wide bandwidth torque servo system using a joint torque sensor system has been developed and has been verified by using a single joint manipulator. An accurate method of selecting the force servo joints to provide compliance has also been developed. Finally, a complete and consistent algorithm for performing compliance is presented.",
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MANIPULATOR COMPLIANCE BASED ON JOINT TORQUE CONTROL. / Wu, Chi haur; Paul, Richard P.

In: Proceedings of the IEEE Conference on Decision and Control, Vol. 1, 01.01.1980, p. 88-94.

Research output: Contribution to journalConference article

TY - JOUR

T1 - MANIPULATOR COMPLIANCE BASED ON JOINT TORQUE CONTROL.

AU - Wu, Chi haur

AU - Paul, Richard P.

PY - 1980/1/1

Y1 - 1980/1/1

N2 - An analysis is made of currently existing force sensing techniques concluding that a joint torque sensing technique will results the best performance in a force servo system. A new, simple, high again, wide bandwidth torque servo system using a joint torque sensor system has been developed and has been verified by using a single joint manipulator. An accurate method of selecting the force servo joints to provide compliance has also been developed. Finally, a complete and consistent algorithm for performing compliance is presented.

AB - An analysis is made of currently existing force sensing techniques concluding that a joint torque sensing technique will results the best performance in a force servo system. A new, simple, high again, wide bandwidth torque servo system using a joint torque sensor system has been developed and has been verified by using a single joint manipulator. An accurate method of selecting the force servo joints to provide compliance has also been developed. Finally, a complete and consistent algorithm for performing compliance is presented.

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M3 - Conference article

VL - 1

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EP - 94

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

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