CONTACT CONTROL FOR ADVANCED APPLICATIONS OF LIGHT WEIGHT ARMS

Cited 13 time in webofscience Cited 18 time in scopus
  • Hit : 297
  • Download : 0
DC FieldValueLanguage
dc.contributor.authorBOOK, WJko
dc.contributor.authorKwon, Dong-Sooko
dc.date.accessioned2013-02-27T03:52:19Z-
dc.date.available2013-02-27T03:52:19Z-
dc.date.created2012-02-06-
dc.date.created2012-02-06-
dc.date.issued1992-08-
dc.identifier.citationJOURNAL OF INTELLIGENT ROBOTIC SYSTEMS, v.6, no.1, pp.121 - 137-
dc.identifier.issn0921-0296-
dc.identifier.urihttp://hdl.handle.net/10203/66293-
dc.description.abstractMany applications of robotic and teleoperated manipulator arms require operation in contact and noncontact regimes. This paper deals with both regimes and the transition between them with special attention given to problems of flexibility in the links and drives. This is referred to as contact control. Inverse dynamics is used to plan the tip motion of the flexible link so that the free motion can stop very near the contact surface without collision due to overshoot. Contact must occur at a very low speed since the high frequency impact forces are too sudden to be affected by any feedback generated torques applied to a joint at the other end of the link. The effects of approach velocity and surface properties are discussed. Force tracking is implemented by commands to the deflection states of the link and the contact force. This enables a natural transition between tip position and tip force control that is not possible when the arm is treated as rigid. The effects of feedback gain, force trajectory, and desired final force level are of particular interest and are studied. Experimental results are presented on a one-link arm and the system performance in the overall contact task is analyzed. Extension to multi-link cases with potential applications are discussed.-
dc.languageEnglish-
dc.publisherKLUWER ACADEMIC PUBL-
dc.titleCONTACT CONTROL FOR ADVANCED APPLICATIONS OF LIGHT WEIGHT ARMS-
dc.typeArticle-
dc.identifier.wosidA1992JL22200010-
dc.identifier.scopusid2-s2.0-0001517052-
dc.type.rimsART-
dc.citation.volume6-
dc.citation.issue1-
dc.citation.beginningpage121-
dc.citation.endingpage137-
dc.citation.publicationnameJOURNAL OF INTELLIGENT ROBOTIC SYSTEMS-
dc.identifier.doi10.1007/BF00314702-
dc.contributor.localauthorKwon, Dong-Soo-
dc.contributor.nonIdAuthorBOOK, WJ-
dc.type.journalArticleArticle; Proceedings Paper-
dc.subject.keywordAuthorINVERSE DYNAMICS-
dc.subject.keywordAuthorFLEXIBLE MANIPULATOR-
dc.subject.keywordAuthorCONTACT FORCE-
dc.subject.keywordAuthorIMPACT-
dc.subject.keywordAuthorTRAJECTORY-
dc.subject.keywordAuthorTRACKING-
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 13 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0