MANIPULATOR COMPLIANCE BASED ON JOINT TORQUE CONTROL.

Chi haur Wu*, Richard P. Paul

*Corresponding author for this work

Research output: Contribution to journalConference article

59 Scopus citations

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
DOIs
StatePublished - Jan 1 1980
EventUnknown conference - Albuquerque, NM
Duration: Dec 10 1980Dec 12 1980

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ASJC Scopus subject areas

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

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