AnswerBun.com

output velocity equation of compliance control

Robotics Asked by rrrruo on October 3, 2021

I am trying to implement a compliance controller for a robot arm and stumbled upon an existing code snippet where the compliance velocity of the endeffector is calculated by:

$v_{out} = v_{in} + frac{F}{K} – frac{dot{F}}{B} $

where $F$ is a 6D wrench vector, $K$ is a given stiffness with the units $frac{N}{m/s}$ & $frac{Nm}{rad/s}$ and $B$ is a given damping with the units $frac{N}{m}$ & $frac{Nm}{rad}$.

I don’t understand where this equation comes from, in particular the second part. In (cartesian space) admittance control, there is e.g. the equation $dot{x}=C cdot F$, where C is the compliance, thus the inverse of stiffness $K$. But how to explain the second part $frac{dot F}{B}$? Is there any reference literature which are recommended?

Many thanks in advance!

Add your own answers!

Related Questions

What does the normalized image coordinates imply?

0  Asked on October 3, 2021 by lzx071021

     

Rapid code pick and place

1  Asked on October 3, 2021 by ramil-aliyev

 

How can I get the equations of motion used in webots?

1  Asked on October 3, 2021 by q-than-a

 

Handling Inverse Kinematics error on a UR Robot

1  Asked on October 3, 2021 by user24261

 

ROS2 and TypeError when publishing custom message to Topic

1  Asked on October 3, 2021 by anthares

   

BLDC Stuttering when attached to Arduino Nano

1  Asked on October 3, 2021 by moazzam-salman

     

Determining required torque for DC motor

0  Asked on October 3, 2021 by timetraveller

     

Ask a Question

Get help from others!

© 2022 AnswerBun.com. All rights reserved. Sites we Love: PCI Database, MenuIva, UKBizDB, Menu Kuliner, Sharing RPP, SolveDir