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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    Title :

    Active control of robot manipulator compliance


    Contributors:

    Publication date :

    1986-11-01


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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