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 language | English (US) |
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Pages (from-to) | 88-94 |
Number of pages | 7 |
Journal | Proceedings of the IEEE Conference on Decision and Control |
Volume | 1 |
DOIs | |
State | Published - 1980 |
Event | Unknown conference - Albuquerque, NM Duration: Dec 10 1980 → Dec 12 1980 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization