The method of realization of force and position control for an ORC-open robot controller

@inproceedings{Lei2004TheMO,
  title={The method of realization of force and position control for an ORC-open robot controller},
  author={Wang Teh Lei},
  year={2004}
}
Aimed at the problem of realizing active compliance control in the project. This paper exploits an open architecture robot controller, which is based on an open architecture control configuration of “PC+PMAC". Using two different control models of the servo drivers, it brings up a project of force and position control. Meanwhile, it gives concrete realization of hardware and software. The experiment results show that a good control stability and accuracy of force have been attained by this way. 

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