Force decomposition in robot force controlThe unit inconsistency in force decomposition has motivated an investigation into the force control problem in multiple-arm manipulation. Based on physical considerations, it is argued that the force that should be controlled is the internal force at the specified frame in the payload. This force contains contributions due to both applied forces from the arms and the inertial force from the payload and the arms. A least-squares scheme free of unit inconsistency for finding this internal force is presented. The force control issue is analyzed, and an integral force feedback controller is proposed.
Document ID
19920046713
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Murphy, Steve H. (NASA Headquarters Washington, DC United States)
Wen, John T. (NASA Center for Intelligent Robotic Systems for Space Exploration; Rensselaer Polytechnic Institute, Troy, NY, United States)