An alternative architecture for a robotic servo system with external information is developed, called virtual internal model following control. A continuous path tracking problem of a robot arm in a working coordinate system is first discussed and the control problem with external information is formulated. Then the virtual internal model is defined based on the formulation. This model is used to describe a control strategy for external information. The total servo system control concept. This architecture enables a robot to utilize general external information which includes information through sensors. As an example of the proposed control architecture, a mechanical impedance control problem is discussed.
|Title of host publication||Unknown Host Publication Title|
|Number of pages||6|
|Publication status||Published - 1987 Jan 1|
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