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The problem of robot control can be explained as a computation of the forces or torques which must be generated by the actuators in order to successfully accomplish the robot task. The appropriate working conditions must be ensured both during the transient period as well as in the stationary state. The robot task can be presented either as the execution of the motions in a free space, where position control is performed, or in contact with the environment, where control of the contact force is required. First, we shall study the position control of a robot mechanism 9 which is not in contact with its environment. Then, in the further text we shall upgrade the position control with the force control
KeywordsContact Force Positional Error Joint Torque Robot Motion Inverse Dynamic
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