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| AN ACTIVE RCC CONTROL SCHEME RESEARCH |
| HUANG Xinhan, WANG Min, HU Jianyuan, YUAN Jun |
| Huazhong University of Science & Technology, Wuhan 430074 |
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Abstract This paper presents the principle and control structure of an Active RCC (ARCC) control scheme gives the computational method of the system′s close loop stiffness and decoupling force feedback matrix, as well as the compliance center setting strategy. These research results are the basis for robot assembly tasks.
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Received: 20 December 1994
Published: 15 September 1996
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