Title: An impact control scheme inspired by human reflex
Authors: Weng, SW
Young, KY
Institute of Electrical and Control Engineering
Issue Date: 1-Dec-1996
Abstract: In this article, we propose a control scheme to deal with unexpected impacts. Impact is inevitable when robot manipulators interact with the environment. Undesirable impacts may induce large interaction forces harmful to robot manipulators and the environment. Impacts may also excite oscillations, and even result in manipulator instability. When unexpected impacts occur, a very limited amount of time is available for control. Thus, a reflex mechanism, which emulates the functioning of human reflexes, is included in the proposed scheme. Human reflex is a kind of human action that requires no conscious effort; consequently, it responds to external stimuli without much delay. Simulations are performed to verify the effectiveness of the proposed scheme under a wide range of environmental variations and impact velocities. (C) 1996 John Wiley & Sons, Inc.
URI: http://hdl.handle.net/11536/894
ISSN: 0741-2223
Volume: 13
Issue: 12
Begin Page: 837
End Page: 855
Appears in Collections:Articles

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  1. A1996VU04600005.pdf