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Understanding bandwidth limitations in robot force control

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2 Author(s)
Eppinger, S.D. ; Artificial Intelligence Laboratory, Massachusetts Institute of Technology ; Seering, W.P.

This paper provides an analytical overview of the dynamics involved in force control. Models are developed which demonstrate, for the one-axis explicit force control case, the effects on system closed-loop bandwidth of a) robot system dynamics that are not usually considered in the controller design; b) drive-train and task nonlinearities; and c) actuator and controller dynamics. The merits and limitations of conventional solutions are weighed, and some new solutions are proposed. Conclusions are drawn which give insights into the relative importance of the effects discussed.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987