Abstract
A type of open-loop force control scheme has been tested in a sheep-shearing robot. Stable, high speed surface following has been achieved on hard and soft surfaces without having to measure actual contact forces and without knowing the dynamics of the robot or the surface. A small hydraulic actuator holds the cutter against the surface of the sheep with a programmed force obtained by regulating the hydraulic pressure against a piston. Measurement of the cutter position relative to the robot provides guidance to modify the robot's position trajectory, and to compensate the hydraulic pressure for disturbance effects. Experience with this device has suggested a simpler approach to force control which might be helpful for future robot system designers.
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© 1994 Springer-Verlag London Limited
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Trevelyan, J. (1994). Robot force control without stability problems. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027590
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DOI: https://doi.org/10.1007/BFb0027590
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