Work performed at Catholic University on the research grant entitled Active Control of Robot Manipulator Compliance, supported by NASA/Goddard space Flight Center during the period of May 15th, 1986 to November 15th, 1986 is described. The modelling of the two-degree-of-freedom robot is first presented. Then the complete system including the robot and the hybrid controller is simulated on an IBM-XT Personal Computer. Simulation results showed that proper adjustments of controller gains enable the robot to perform successful operations. Further research should focus on developing a guideline for the controller gain design to achieve system stability.


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    Titel :

    Active Control of Robot Manipulator Compliance


    Beteiligte:
    C. C. Nguyen (Autor:in) / F. J. Pooran (Autor:in)

    Erscheinungsdatum :

    1986


    Format / Umfang :

    64 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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