Robust force control strategy based on the virtual environment concept
| Autor: | Pierre Dauchez, François Pierrot, Philippe Fraisse |
|---|---|
| Rok vydání: | 2007 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry Parallel manipulator Control engineering 02 engineering and technology computer.software_genre Computer Science Applications Human-Computer Interaction 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Hardware and Architecture Control and Systems Engineering Virtual machine Robustness (computer science) Control theory Robust control business computer Software |
| Zdroj: | Advanced Robotics. 21:485-498 |
| ISSN: | 1568-5535 0169-1864 |
| DOI: | 10.1163/156855307780132018 |
| Popis: | The main goal of this paper is to present a force control strategy based on the virtual environment concept. This concept is a way to increase the robustness of force control schemes with respect to a variation of the environment characteristics. We first propose this approach, then we analyze it and, finally, we adapt it to a classical external force control scheme. Experimental results with a DELTA fast parallel robot are presented to prove the efficiency of this method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|