Mailah, Musa and Hewit, J. R. and Meeran, Sheik (1996) Active force control applied to a rigid robot arm. Jurnal Mekanikal, 2 (2). pp. 52-68. ISSN 0127-3396
Official URL: http://portal.psz.utm.my/psz/index.php?option=com_...
The paper presents the implementation of Active Force Control (AFC) strategy to control a rigid robot arm. The robustness and effectiveness of AFC as 'disturbance rejector' is demonstrated through a simulation study using MATLAB(R) and SIMULINK(r)* softare packages. The work is carried out on a rigid two link disturbances. The results are directly compared to an equivalent system which employs the conventional model-based Proportional-Derivative (PD) control method.
|Uncontrolled Keywords:||active force control (AFC), rigid robot arm|
|Subjects:||T Technology > TJ Mechanical engineering and machinery|
|Deposited By:||Ms Zalinda Shuratman|
|Deposited On:||23 Apr 2009 06:12|
|Last Modified:||02 Jun 2010 01:54|
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