Generalization of robot force control theory for elastic robot

Generalization of robot force control theory for elastic robot

In this paper are given the results of the analysis of the existing force/torque control methods by using of the detailed dynamic model of the control object: manipulator and part, which is moved by this manipulator; it is known that feasible motions of this part are limited with constraints. This m...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
1. Verfasser: Kulakov, F.M.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Elasticity
Equations
Force control
Force measurement
Grippers
Manipulator dynamics
Robotics and automation
Robots
Torque control
Wrist
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 1617 vol.3
container_issue
container_start_page 1610
container_title
container_volume 3
creator Kulakov, F.M.
description In this paper are given the results of the analysis of the existing force/torque control methods by using of the detailed dynamic model of the control object: manipulator and part, which is moved by this manipulator; it is known that feasible motions of this part are limited with constraints. This model take into consideration the elasticity of the transmission from the drives to the links of the manipulator, the wrist elasticity, and the elasticity of the manipulator links. In accordance with the requirements of the stability of the perturbed motion, the famous force/torque control laws are modified and made more precise. Besides the advantage and deficiencies of the different force/torque control methods are analyzed and the new methods are proposed, in which some deficiencies are absent.< >
doi_str_mv 10.1109/IROS.1994.407641
format Conference Proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_407641</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>407641</ieee_id><sourcerecordid>407641</sourcerecordid><originalsourceid>FETCH-LOGICAL-i104t-6256b3f2adf205159abbc16ee5f051259769c942e0831245fd1c3657586f1e603</originalsourceid><addsrcrecordid>eNotT8FKxDAUDIigrL2Lp_xAa15ekjYXQRZdFxYWVj0vafYFI7WRNJf1663UYWCYYRgYxm5BNADC3m8P-9cGrFWNEq1RcMEq23ZiJoJFlFesmqZPMUMpjWiu2cOGRspuiD-uxDTyFHhOfSo8pOyJ-zSWnAZePijl81_IaXBTiX6p3bDL4IaJqn9dsffnp7f1S73bb7brx10dQahSG6lNj0G6U5BCg7au7z0YIh1mK7VtjfVWSRIdglQ6nMCj0a3uTAAyAlfsbtmNRHT8zvHL5fNxOYm_it1GnQ</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Generalization of robot force control theory for elastic robot</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Kulakov, F.M.</creator><creatorcontrib>Kulakov, F.M.</creatorcontrib><description>In this paper are given the results of the analysis of the existing force/torque control methods by using of the detailed dynamic model of the control object: manipulator and part, which is moved by this manipulator; it is known that feasible motions of this part are limited with constraints. This model take into consideration the elasticity of the transmission from the drives to the links of the manipulator, the wrist elasticity, and the elasticity of the manipulator links. In accordance with the requirements of the stability of the perturbed motion, the famous force/torque control laws are modified and made more precise. Besides the advantage and deficiencies of the different force/torque control methods are analyzed and the new methods are proposed, in which some deficiencies are absent.&lt; &gt;</description><identifier>ISBN: 9780780319332</identifier><identifier>ISBN: 0780319338</identifier><identifier>DOI: 10.1109/IROS.1994.407641</identifier><language>eng</language><publisher>IEEE</publisher><subject>Elasticity ; Equations ; Force control ; Force measurement ; Grippers ; Manipulator dynamics ; Robotics and automation ; Robots ; Torque control ; Wrist</subject><ispartof>Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94), 1994, Vol.3, p.1610-1617 vol.3</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/407641$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,4036,4037,27902,54895</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/407641$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Kulakov, F.M.</creatorcontrib><title>Generalization of robot force control theory for elastic robot</title><title>Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)</title><addtitle>IROS</addtitle><description>In this paper are given the results of the analysis of the existing force/torque control methods by using of the detailed dynamic model of the control object: manipulator and part, which is moved by this manipulator; it is known that feasible motions of this part are limited with constraints. This model take into consideration the elasticity of the transmission from the drives to the links of the manipulator, the wrist elasticity, and the elasticity of the manipulator links. In accordance with the requirements of the stability of the perturbed motion, the famous force/torque control laws are modified and made more precise. Besides the advantage and deficiencies of the different force/torque control methods are analyzed and the new methods are proposed, in which some deficiencies are absent.&lt; &gt;</description><subject>Elasticity</subject><subject>Equations</subject><subject>Force control</subject><subject>Force measurement</subject><subject>Grippers</subject><subject>Manipulator dynamics</subject><subject>Robotics and automation</subject><subject>Robots</subject><subject>Torque control</subject><subject>Wrist</subject><isbn>9780780319332</isbn><isbn>0780319338</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1994</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotT8FKxDAUDIigrL2Lp_xAa15ekjYXQRZdFxYWVj0vafYFI7WRNJf1663UYWCYYRgYxm5BNADC3m8P-9cGrFWNEq1RcMEq23ZiJoJFlFesmqZPMUMpjWiu2cOGRspuiD-uxDTyFHhOfSo8pOyJ-zSWnAZePijl81_IaXBTiX6p3bDL4IaJqn9dsffnp7f1S73bb7brx10dQahSG6lNj0G6U5BCg7au7z0YIh1mK7VtjfVWSRIdglQ6nMCj0a3uTAAyAlfsbtmNRHT8zvHL5fNxOYm_it1GnQ</recordid><startdate>1994</startdate><enddate>1994</enddate><creator>Kulakov, F.M.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1994</creationdate><title>Generalization of robot force control theory for elastic robot</title><author>Kulakov, F.M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i104t-6256b3f2adf205159abbc16ee5f051259769c942e0831245fd1c3657586f1e603</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1994</creationdate><topic>Elasticity</topic><topic>Equations</topic><topic>Force control</topic><topic>Force measurement</topic><topic>Grippers</topic><topic>Manipulator dynamics</topic><topic>Robotics and automation</topic><topic>Robots</topic><topic>Torque control</topic><topic>Wrist</topic><toplevel>online_resources</toplevel><creatorcontrib>Kulakov, F.M.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kulakov, F.M.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Generalization of robot force control theory for elastic robot</atitle><btitle>Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)</btitle><stitle>IROS</stitle><date>1994</date><risdate>1994</risdate><volume>3</volume><spage>1610</spage><epage>1617 vol.3</epage><pages>1610-1617 vol.3</pages><isbn>9780780319332</isbn><isbn>0780319338</isbn><abstract>In this paper are given the results of the analysis of the existing force/torque control methods by using of the detailed dynamic model of the control object: manipulator and part, which is moved by this manipulator; it is known that feasible motions of this part are limited with constraints. This model take into consideration the elasticity of the transmission from the drives to the links of the manipulator, the wrist elasticity, and the elasticity of the manipulator links. In accordance with the requirements of the stability of the perturbed motion, the famous force/torque control laws are modified and made more precise. Besides the advantage and deficiencies of the different force/torque control methods are analyzed and the new methods are proposed, in which some deficiencies are absent.&lt; &gt;</abstract><pub>IEEE</pub><doi>10.1109/IROS.1994.407641</doi></addata></record>
fulltext fulltext_linktorsrc
identifier ISBN: 9780780319332
ispartof Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94), 1994, Vol.3, p.1610-1617 vol.3
issn
language eng
recordid cdi_ieee_primary_407641
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Elasticity
Equations
Force control
Force measurement
Grippers
Manipulator dynamics
Robotics and automation
Robots
Torque control
Wrist
title Generalization of robot force control theory for elastic robot
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-06T11%3A00%3A10IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Generalization%20of%20robot%20force%20control%20theory%20for%20elastic%20robot&rft.btitle=Proceedings%20of%20IEEE/RSJ%20International%20Conference%20on%20Intelligent%20Robots%20and%20Systems%20(IROS'94)&rft.au=Kulakov,%20F.M.&rft.date=1994&rft.volume=3&rft.spage=1610&rft.epage=1617%20vol.3&rft.pages=1610-1617%20vol.3&rft.isbn=9780780319332&rft.isbn_list=0780319338&rft_id=info:doi/10.1109/IROS.1994.407641&rft_dat=%3Cieee_6IE%3E407641%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=407641&rfr_iscdi=true