| contributor author | Timothy S. Fielding | |
| contributor author | James K. Mills | |
| date accessioned | 2017-05-08T23:59:15Z | |
| date available | 2017-05-08T23:59:15Z | |
| date copyright | June, 1999 | |
| date issued | 1999 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26255#320_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/121922 | |
| description abstract | A control method is introduced to permit the retrofit of a large class of commercially available industrial robots with a contact force control capability. In this control algorithm, the outer force loop modifies the desired position input trajectory by solving two sets of differential equations as initial value problems. Experimental results, obtained on a CRS Robotics Corporation A460 six degree of freedom industrial robot, are presented which demonstrate the effectiveness of the proposed approach. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Robotic Force Control Using Virtual Trajectory Generation | |
| type | Journal Paper | |
| journal volume | 121 | |
| journal issue | 2 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2802475 | |
| journal fristpage | 320 | |
| journal lastpage | 322 | |
| identifier eissn | 1528-9028 | |
| keywords | Trajectories (Physics) | |
| keywords | Robotics | |
| keywords | Force control | |
| keywords | Robots | |
| keywords | Force | |
| keywords | Degrees of freedom | |
| keywords | Differential equations AND Control algorithms | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1999:;volume( 121 ):;issue: 002 | |
| contenttype | Fulltext | |