A Model-based Generation Of Damping Control Law For Part-mat Ing

Abstract

A model-based approach t o t h e generat ion of damping control law f o r par t -ma t ing i s presented. Par t ma t ing operation m u s t be achieved despite posit ioning errors of workpieces. App ly ing damping control, a robot can mod i f y its m o t i o n according t o reaction forces acting o n it in order t o achieve t h e operations. A modif icat ion… (More)
DOI: 10.1109/IROS.1992.587380

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