標題: An impact control scheme inspired by human reflex
作者: Weng, SW
Young, KY
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 1-十二月-1996
摘要: 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
期刊: JOURNAL OF ROBOTIC SYSTEMS
Volume: 13
Issue: 12
起始頁: 837
結束頁: 855
顯示於類別:期刊論文


文件中的檔案:

  1. A1996VU04600005.pdf