NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Precise computer controlled positioning of robot end effectors using sensory feedbackA 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 multijoint 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 on the design of the inner position controller. Supportive simulation results are also provided.
Document ID
19880067232
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Wang, J. C.
(Idaho State University Pocatello, United States)
Tsai, J. S. H.
(Idaho State Univ. Pocatello, ID, United States)
Mcinnis, B. C.
(Idaho State Univ. Pocatello, ID, United States)
Shieh, L. S.
(Houston, University TX, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Cybernetics
Meeting Information
Meeting: 1988 American Control Conference
Location: Atlanta, GA
Country: United States
Start Date: June 15, 1988
End Date: June 17, 1988
Accession Number
88A54459
Funding Number(s)
CONTRACT_GRANT: NAG9-211
CONTRACT_GRANT: DAAL03-87-K-0001
CONTRACT_GRANT: DAAH01-85-C-A111
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available