High bandwidth force regulation and inertia reduction using a macro/micro manipulator system

@inproceedings{Sharon1988HighBF,
  title={High bandwidth force regulation and inertia reduction using a macro/micro manipulator system},
  author={Andre Sharon and Neville Hogan and David E. Hardt},
  booktitle={ICRA},
  year={1988}
}
A robot's ability to maintain desired interface forces during constrained motion is governed by its driving point impedance and primarily by its inertia. Negative force feedback is a means of reducing this driving point impedance, but the system becomes unstable at high bandwidths. A macro/micro manipulator system, consisting of a large (macro) robot carrying a small (micro) high performance robot, alleviates this problem by physically reducing the endpoint inertia as well as providing an… CONTINUE READING
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