제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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- Pages.595-599
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- 1989
APPLICATION OF INVERSE DUNAMICS FOR HYBRID TRANSLATIONAL POSITION/FORCE CONTROL OF A FLEXIBLE ROBOT ARM
- Sasaki, Minoru (Department of Mechanical Engineering Miyagi National College of Technology Medeshima Natori) ;
- Inooka, Hikaru (Department of Mechanical Engineering Faculty of Engineering Tohoku University)
- 발행 : 1989.10.01
초록
A new simple method for controlling compliant motions of a flexible robot arm is presented. The method aims at controlling translational tip motion, force and moment by directly computing the base motion or torque. A numerical inversion of Laplace transform is used to obtain the results in the time domain. The results show the effectiveness of the method for the hybrid translational position/force control of a flexible robot arm.
키워드