A Generalization of the Inherent Stability Problem in Cartesian Compliance and an Alternative Structure of Compliance Control

笛卡尔柔顺固有稳定性问题的推广和柔顺控制的替代结构

• 批准号: 8910994
• 负责人: Tae-Sang Chung
• 金额: $ 6.17万
• 依托单位: University of Kentucky
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1989
• 资助国家: 美国
• 起止时间: 1989-07-15 至 1991-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8910994&HistoricalAwards=false
• 关键词: Generalization; Inherent; Stability; Problem; Cartesian

This Research Initiation Award is for a study of stability problems in Cartesian compliance control of robotic manipulators. Dr. Chung will extend his successful technique for hexapod leg control to the domain of more general compliant manipulators. The technique involves Jacobian analysis of force errors in joint space to determine situations requiring torque feedback contradictory to an overall force goal. A more general technique of stabilization using passive compliance will also be studied.

本研究启动奖是为了研究机械臂笛卡儿柔度控制中的稳定性问题。钟博士将把他成功的六足腿控制技术扩展到更一般的柔顺机械手领域。该技术涉及关节空间力误差的雅可比分析，以确定需要扭矩反馈的情况与总体力目标相矛盾。还将研究一种更一般的使用被动顺应的稳定技术。