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RISImpedance Control on Redundant Manipulators With ZeroPotentialEnergy Motions: Theory and Experimental Validation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents an experimental study with theory to identify quantitatively the zeropotentialenergy (ZP) motion in Cartesian impedance control of redundant manipulators, based on a new analytical methodology. This ...
Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents an experimental study with theory to identify quantitatively the zero-potential-energy (ZP) motion in Cartesian impedance control of redundant manipulators, based on a new analytical methodology. This ...