Scribd Logo
Upload

Welcome to Scribd!

  • F τ F F θ θ˙ F (,) X X˙ τ: ext ext e d d dthr

    Uploaded by

    Juan de Dios
    7 views1 page
    This document describes a force control system for a robot. The system uses a dither signal, force controller, impedance controller, and force estimator running at different frequencies to control the robot's position and force output to match a target force while compensating for external forces applied to the robot. The force estimator, impedance controller, and force controller all work together to control the robot's position, velocity, and acceleration to apply the target force.

    Original Description:

    this is the explanation of some forces here and there.

    Original Title

    forcepc_f

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Report this Document
    This document describes a force control system for a robot. The system uses a dither signal, force controller, impedance controller, and force estimator running at different frequencies to control the robot's position and force output to match a target force while compensating for external forces applied to the robot. The force estimator, impedance controller, and force controller all work together to control the robot's position, velocity, and acceleration to apply the target force.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    7 views1 page

    F τ F F θ θ˙ F (,) X X˙ τ: ext ext e d d dthr

    Uploaded by

    Juan de Dios
    This document describes a force control system for a robot. The system uses a dither signal, force controller, impedance controller, and force estimator running at different frequencies to control the robot's position and force output to match a target force while compensating for external forces applied to the robot. The force estimator, impedance controller, and force controller all work together to control the robot's position, velocity, and acceleration to apply the target force.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    of 1

    {Xd , Ẋ d } Dither signal

    Fext
    (80 Hz)
    ˙ ¨
    τdthr
    {Xc , X c , X c }

    Fe
    Force + Impedance + τ Fext
    Delta
    +           Controller +           Controller +          
    Ftarget - robot
    (120 Hz) (240 Hz)
    ˙ ¨
    {Xr , X r , X r }

    +
           θ
    Force estimator Forward
    F 
    ̂ -
    ext
    (240 Hz) Kinematics
    X

    Jacobian
    Ẋ
    θ̇

    You might also like