| タイトル | Force reflection with compliance control |
| 本文（外部サイト） | http://hdl.handle.net/2060/19940006199 |
| 著者（英） | Kim, Won S. |
| 著者所属（英） | Jet Propulsion Lab., California Inst. of Tech.; NASA Pasadena Office |
| 発行日 | 1993-08-24 |
| 言語 | eng |
| 内容記述 | Two types of systems for force-reflecting control, which enables high force-reflection gain, are presented: position-error-based force reflection and low-pass-filtered force reflection. Both of the systems are combined with shared compliance control. In the position-error-based class, the position error between the commanded and the actual position of a compliantly controlled robot is used to provide force reflection. In the low-pass-filtered force reflection class, the low-pass-filtered output of the compliance control is used to provide force reflection. The increase in force reflection gain can be more than 10-fold as compared to a conventional high-bandwidth pure force reflection system, when high compliance values are used for the compliance control. |
| NASA分類 | MECHANICAL ENGINEERING |
| レポートNO | 94N10654 |
| 権利 | No Copyright |
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