Robot Reflex and Posture Control for Expected and Unexpected Impacts during Compliance Task Exection
碩士 === 國立交通大學 === 電機與控制工程學系 === 86 === In this thesis, we propose a robot impact control scheme to tackle expected and unexpected impacts during compliance task execution. In the proposed scheme, a posture selector is...
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
1998
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| Online Access: | http://ndltd.ncl.edu.tw/handle/54460883804967977301 |
| Summary: | 碩士 === 國立交通大學 === 電機與控制工程學系 === 86 === In this thesis, we propose a robot impact control scheme to
tackle expected and unexpected impacts during
compliance task execution. In the proposed scheme, a
posture selector is used to provide proper postures for
tackling expected impacts and the reflex mechanism to
provide pre-programmed motion commands for dealing with
unexpected impacts. We also prove that postures
derived statically may not work well in controlled
dynamic systems via experiments. Moreover, because time
delay in force data transmission results in oscillating and
unstable phenomena in executing constrained-motion, a force
predictor is used to overcome this undesired situation.
System parameters have been identified to make system
formulation more realistic. Simulations are performed to
verify the effectiveness of the proposed scheme.
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