Bandwidth performance of a direct drive manipulator under joint torque and endpoint force control

The experimental bandwidth limitations for digitally implemented joint torque and endpoint force control of a one degree-of-freedom direct drive manipulator are discussed. It is shown that an open loop joint torque controller can be used with good results to track endpoint force trajectories, but is...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Fowler, H.C., Eppinger, S.D.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Aluminum Bandwidth Force control Force feedback Force sensors Frequency Friction Open loop systems Robots Torque control
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