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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)
Date Acquired
August 15, 2013
Publication Date
January 1, 1991
Subject Category
Cybernetics
Meeting Information
Meeting: 1991 American Control Conference
Location: Boston, MA
Country: United States
Start Date: June 26, 1991
End Date: June 28, 1991
Sponsors: American Automatic Control Council
Accession Number
92A29337
Funding Number(s)
CONTRACT_GRANT: NAGW-1333
Distribution Limits
Public
Copyright
Other

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