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)