For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be limited to unsatisfactory closed-loop performance. This paper discusses the particular dynamic properties of robot systems which can lead to instability and limit performance. A series of lumped-parameter models is developed in an effort to predict the closed-loop dynamics of a force-controlled single axis arm. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics. The qualitative analysis shows that the robot dynamics contribute to force-controlled instability. Recommendations are made for models to be used in control system design.
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/5599 |
| Date | 01 July 1986 |
| Creators | Eppinger, Steven D., Seering, Warren P. |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | en_US |
| Detected Language | English |
| Format | 15 p., 1871574 bytes, 705592 bytes, application/postscript, application/pdf |
| Relation | AIM-910 |
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