Virtual environment for robot force control

Virtual environment for robot force control

The authors present a new concept in robot force control: the virtual environment concept. This concept is a way to increase the robustness of force control schemes with respect to a variation of the environment characteristics. This approach is presented, analyzed, and adapted to robot force contro...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Fraisse, P., Pierrot, F., Dauchez, P.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Actuators
Control systems
Force control
Integral equations
Manipulators
Robots
Robust control
Robustness
Springs
Virtual environment
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Beschreibung
Zusammenfassung:The authors present a new concept in robot force control: the virtual environment concept. This concept is a way to increase the robustness of force control schemes with respect to a variation of the environment characteristics. This approach is presented, analyzed, and adapted to robot force control. Simulation results are presented to prove the efficiency of the method.< >
DOI:10.1109/ROBOT.1993.291986