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Robotics pp 77-95 | Cite as

Robot control

  • Tadej BajdEmail author
  • Matjaž Mihelj
  • Jadran Lenarčič
  • Aleš Stanovnik
  • Marko Munih
Chapter
  • 5.5k Downloads
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 43)

Abstract

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

Keywords

Contact Force Positional Error Joint Torque Robot Motion Inverse Dynamic 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Tadej Bajd
    • 1
    Email author
  • Matjaž Mihelj
    • 1
  • Jadran Lenarčič
    • 2
  • Aleš Stanovnik
    • 1
  • Marko Munih
    • 1
  1. 1.Fac. Electrical EngineeringUniversity of LjubljanaLjubljanaSlovenia
  2. 2.Inst. J. StefanUniversity of LjubljanaLjubljanaSlovenia

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