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Development and experimental verification of a mathematical model for robot force control design

Conference Paper


Abstract


  • This paper describes the development and experimental verification of a mathematical model for a force control system consisting of a PUMA 560 manipulator, force sensor, and environment. The main contribution is to present an argument that explicit dynamic models of manipulation systems used for force control are of little relevance or use. Identification techniques are used to model the system as a 'black box', measuring only an input/output relationship. The explicit dynamics of the mechanical, hardware and software elements of the manipulator are neglected.

Publication Date


  • 1993

Citation


  • Alici, G., & Daniel, R. W. (1993). Development and experimental verification of a mathematical model for robot force control design. In 1993 International Conference on Intelligent Robots and Systems (pp. 1559-1565).

Scopus Eid


  • 2-s2.0-0027881981

Start Page


  • 1559

End Page


  • 1565

Abstract


  • This paper describes the development and experimental verification of a mathematical model for a force control system consisting of a PUMA 560 manipulator, force sensor, and environment. The main contribution is to present an argument that explicit dynamic models of manipulation systems used for force control are of little relevance or use. Identification techniques are used to model the system as a 'black box', measuring only an input/output relationship. The explicit dynamics of the mechanical, hardware and software elements of the manipulator are neglected.

Publication Date


  • 1993

Citation


  • Alici, G., & Daniel, R. W. (1993). Development and experimental verification of a mathematical model for robot force control design. In 1993 International Conference on Intelligent Robots and Systems (pp. 1559-1565).

Scopus Eid


  • 2-s2.0-0027881981

Start Page


  • 1559

End Page


  • 1565