Study on Design and Control of Torque-Controlled Manipulators

摘要

Robot tasks are analyzed in general, and robot motions for executing these tasks are studied. Servo-implementation methods are developed for generalized robot motions, considering the dynamic properties of the controlled system. Individual topics addressed include: (1) the representation of motions as the interactions of position, velocity, and force in a task-coordinate system; (2) the control of motions represented in the task coordinates; (3) the structural teaching of position and orientation in the task coordinates; and (4) the design and development of torque-controlled manipulator that can exert force accurately.