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Experimental Robotics IV pp 507–515Cite as

Robot force control experiments with an actively damped compliant end effector

  • Chapter 11 Fine-Motion Planning and Control
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

Abstract

A new method based on modal decoupling is proposed for the hybrid force/position control of a robot with compliant end effector during constrained motion. This method incorporates results from control of flexible robots in order to damp out undesired vibrations of the end effector through active control. The contact dynamics during constrained motion are described by vibrational modes. These are either unconstrained real vibrational modes, or constrained, hence degenerated modes.

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References

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Author information

Authors and Affiliations

  1. Dept. of Mechanical Engineering, Katholieke Universiteit Leuven, Heverlee, Belgium

    Joris De Schutter, Dirk Torfs, Stefan Dutré & Herman Bruyninckx

Authors
  1. Joris De Schutter
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  2. Dirk Torfs
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  3. Stefan Dutré
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  4. Herman Bruyninckx
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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De Schutter, J., Torfs, D., Dutré, S., Bruyninckx, H. (1997). Robot force control experiments with an actively damped compliant end effector. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035240

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  • DOI: https://doi.org/10.1007/BFb0035240

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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