제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Modeling and experiment for the force/impact control via passive hardware damper

  • Oh, Y.H. (Robotics Lab., Department of Mechanical Engineering, POSTECH, P.O.Box 125, Pohang, Kyungbuk, 170-600) ;
  • Chung, W.K. (Robotics Lab., Department of Mechanical Engineering, POSTECH, P.O.Box 125, Pohang, Kyungbuk, 170-600) ;
  • Youm, Y. (Robotics Lab., Department of Mechanical Engineering, POSTECH, P.O.Box 125, Pohang, Kyungbuk, 170-600)
  • Published : 1993.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper deals with the modeling and experiment of a robot system for force/impact control performance. The basic model is composed of a direct drive motor, servo amplifier, link, force sensor and environments. Based on the developed model, the stability of the whole system was analyzed via root locus method. For the force control, integral force compensation with velocity feedback method shows the best performance of all the explicit force control strategies. In dealing with impact, PID position control and the explicit force control method were implemented. Instead of add more damping to the robot system by velocity feedback, we developed a new passive damping method and it was also applied to enhance the damping characteristic of the system.

Keywords