Author:
Wen Shu-Huan ,Yuan Jun-Ying ,
Abstract
According to the theory of passivity, the force control on the robot system is studied from a relatively new perspective. In general, a strictly passive dynamic system has a good dynamic characteristics and robustness. Therefore, a passive approach to force control is presented in the force controller design. In view of the uncertainty and environmental impacts in robot modeling, the paper adds a compensation term to compensate for model uncertainty in force control loop. The simulation results show that this control program enhances the dynamic performance and robustness of the system.
Publisher
Acta Physica Sinica, Chinese Physical Society and Institute of Physics, Chinese Academy of Sciences
Subject
General Physics and Astronomy
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