NDLI: Precise Computer Controlled Positioning of Robot End Effectors Using Sensory Feedback

Content Provider	IEEE Xplore Digital Library
Author	Wang, J.C. Tsai, J.S.H. McInnis, B.C. Shieh, L.S.
Copyright Year	1988
Description	Author affiliation: Department of Electrical Engineering, University of Houston, Houston, Texs 77004 (Tsai, J.S.H.; McInnis, B.C.; Shieh, L.S.) \|\| College of Engineering, Idaho State University, Pocatello, Idaho 83209 (Wang, J.C.)
Abstract	A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multi-joint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State-feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided.
Starting Page	523
Ending Page	528
File Size	477276
Page Count	6
File Format	PDF
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-06-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Robot control Robot sensing systems End effectors Force control Orbital robotics Manipulator dynamics Force sensors Force feedback Space vehicles Position control
Content Type	Text
Resource Type	Article

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