ME5286CourseNotes13-09 - Force Based Control Denitions...

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Force Based Control
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Defnitions “Force” = Force and torque “Position”= Position and angle “Motion”= Translation and rotation A force feedback algorithm: Takes in * Force and motion commands * Sensed forces and positions Puts out * Motion commands
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Two Main Types of Force Based Control Logic Branching Based on events Continuous Based on differentials over a span of time Examples follow….
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Logic Branching
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Two Main Types of Continuous Force Based Control Pure and hybrid…. Pure: a) Sense Force b) Move tool Distance - stiffness or compliance Velocity - damping or accommodation Mix - impedance
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Two Main Types of Continuous Force Based Control Hybrid: a) Sense Force b) Move Tool Some axes respond to force Other axes respond to motion commands
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Examples of Continuous Force Based Control Follow a contour Open a Door
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Defning Strategies System architecture Strategy construction Examples
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Basic System Architecture
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Architecture in More Detail
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Comments on Architecture Lots of coordinate frames Motion causes force causes motion… Stiffness includes all elastic components: Robot, tool, base, work
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Simplest Form How to make it do something useful? Must also be careful about stability
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ME5286CourseNotes13-09 - Force Based Control Denitions...

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