제어로봇시스템학회:학술대회논문집
- 1989.10a
- /
- Pages.595-599
- /
- 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)
- Published : 1989.10.01
Abstract
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.
Keywords