Precise computer controlled positioning of robot end effectors using sensory feedback.

J. C. Wang; J. S.H. Tsai; B. C. McInnis; L. S. Shieh

doi:10.23919/acc.1988.4789775

Precise computer controlled positioning of robot end effectors using sensory feedback.

J. C. Wang, J. S.H. Tsai, B. C. McInnis, L. S. Shieh

Department of Electrical Engineering

Research output: Contribution to journal › Conference article › peer-review

Abstract

A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.

Original language	English
Pages (from-to)	523-528
Number of pages	6
Journal	Proceedings of the American Control Conference
Volume	88 pt 1-3
DOIs	https://doi.org/10.23919/acc.1988.4789775
Publication status	Published - 1988 Jan 1

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.23919/acc.1988.4789775

Cite this

@article{401f2dc2cba84d419cfa3333e5b5300c,

title = "Precise computer controlled positioning of robot end effectors using sensory feedback.",

abstract = "A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.",

author = "Wang, {J. C.} and Tsai, {J. S.H.} and McInnis, {B. C.} and Shieh, {L. S.}",

year = "1988",

month = jan,

day = "1",

doi = "10.23919/acc.1988.4789775",

language = "English",

volume = "88 pt 1-3",

pages = "523--528",

journal = "Proceedings of the American Control Conference",

issn = "0743-1619",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Precise computer controlled positioning of robot end effectors using sensory feedback.

AU - Wang, J. C.

AU - Tsai, J. S.H.

AU - McInnis, B. C.

AU - Shieh, L. S.

PY - 1988/1/1

Y1 - 1988/1/1

N2 - A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.

AB - A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.

UR - http://www.scopus.com/inward/record.url?scp=0024142274&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0024142274&partnerID=8YFLogxK

U2 - 10.23919/acc.1988.4789775

DO - 10.23919/acc.1988.4789775

M3 - Conference article

AN - SCOPUS:0024142274

SN - 0743-1619

VL - 88 pt 1-3

SP - 523

EP - 528

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

ER -

Precise computer controlled positioning of robot end effectors using sensory feedback.

Abstract

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this