Title:
Modelling for two-time scale force position control of flexible robots
Modelling for two-time scale force position control of flexible robots
| dc.contributor.author | Rocco, Paolo | en_US |
| dc.contributor.author | Book, Wayne J. | en_US |
| dc.contributor.corporatename | Politecnico di Milan. Dipartimento di Elettronica e Informazione | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2011-05-25T19:48:31Z | |
| dc.date.available | 2011-05-25T19:48:31Z | |
| dc.date.issued | 1996-06 | |
| dc.description | ©1996 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 1996 IEEE International Conference on Robotics and Automation, 22-28 April 1996, Minneapolis, MN , USA. | en_US |
| dc.description | DOI: 10.1109/ROBOT.1996.506156 | en_US |
| dc.description.abstract | Distributed flexibility of the links is a severe obstacle for the endpoint position control of lightweight manipulators. In order to accomplish with satisfactory performance certain tasks involving a controlled interaction of the tip of the robot with the worksurfaces, a combined control of the motion and the contact forces can provide some advantages. This paper presents a general and systematic model of a flexible robot interacting with a rigid environment. A force/position control scheme based on this model is also introduced. Results obtained simulating the constrained motion of an existing 2 d.o.f. flexible arm are finally given | en_US |
| dc.identifier.citation | Rocco, P. and Book, W. J., "Modelling for two-time scale force/position control of flexible robots," 1996 IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, Minnesota, April 1996, Vol. 3, 1941-1946. | en_US |
| dc.identifier.isbn | 0-7803-2988-0 | |
| dc.identifier.issn | 1050-4729 | |
| dc.identifier.uri | http://hdl.handle.net/1853/38982 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Flexible manipulators | en_US |
| dc.subject | Force control | en_US |
| dc.subject | Singular perturbation theory | en_US |
| dc.subject | Composite control | en_US |
| dc.subject | Robotic simulations | en_US |
| dc.title | Modelling for two-time scale force position control of flexible robots | en_US |
| dc.title.alternative | Two-time scale force position control of flexible robots | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dc.type.genre | Post-print | |
| dspace.entity.type | Publication | |
| local.contributor.author | Book, Wayne J. | |
| local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
| local.contributor.corporatename | College of Engineering | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
| relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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