제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
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- Pages.51.6-51
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- 2001
Compliance Control of a Five-bar Mechanism
- Kim, Chong-Sup (Hanyang Univ.) ;
- Yi, Byung-Ju (Hanyang Univ.) ;
- Suh, Il-Hong (Hanyang Univ.) ;
- Oh, Sang-Rok (KIST)
- 발행 : 2001.10.01
초록
We propose a new compliance control algorithm, which is different from previous compliance control methods in that it employs equal or more actuators than the number of the required compliance elements in operational space. The proposed compliance control algorithm ensures precise force and position control. The validity has been shown both theoretically and experimentally.
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