Browsing AI Memos (1959 - 2004) by Author "Eppinger, Steven D."

Now showing items 1-3 of 3

    • Modeling Robot Flexibility for Endpoint Force Control 

      Eppinger, Steven D.; Seering, Warren P. (1988-05-01)
      Dynamic models have been developed in an attempt to match the response of a robot arm. The experimental data show rigid-body and five resonant modes. The frequency response and pole-zero arrays for various models of ...

    • On Dynamic Models of Robot Force Control 

      Eppinger, Steven D.; Seering, Warren P. (1986-07-01)
      For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be ...

    • Understanding Bandwidth Limitations in Robot Force Control 

      Eppinger, Steven D.; Seering, Warren P. (1987-08-01)
      This paper provides an analytical overview of the dynamics involved in force control. Models are developed which demonstrate, for the one-axis explicit force control case, the effects on system closed-loop bandwidth ...