AN ACTIVE RCC CONTROL SCHEME RESEARCH

HUANG Xinhan, WANG Min, HU Jianyuan, et al. AN ACTIVE RCC CONTROL SCHEME RESEARCHJ. Robot, 1996, 18(5): 373-278.

Citation:

HUANG Xinhan, WANG Min, HU Jianyuan, et al. AN ACTIVE RCC CONTROL SCHEME RESEARCHJ. Robot, 1996, 18(5): 373-278.

Citation:

HUANG Xinhan, WANG Min, HU Jianyuan, et al. AN ACTIVE RCC CONTROL SCHEME RESEARCHJ. Robot, 1996, 18(5): 373-278.

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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