Synthesis of Hybrid Impedance Control Strategies for Robot ManipulatorsSource: Journal of Dynamic Systems, Measurement, and Control:;1996:;volume( 118 ):;issue: 003::page 566Author:Michel Pelletier
DOI: 10.1115/1.2801181Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a new method to automatically synthesize robot compliant motions based on hybrid impedance control. The scheme relies on decoupled linear impedance models of the robot and the environment, in which the errors due to control, task frame estimation, as well as environment uncertainty are explicitly taken into account. The technique consists of selecting appropriate manipulator impedances to match the environment dynamics and satisfy all the task goals. Two experimental examples of this methodology are presented.
keyword(s): Impedance (Electricity) , Manipulators , Robots , Uncertainty , Structural frames , Errors , Dynamics (Mechanics) AND Motion ,
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| contributor author | Michel Pelletier | |
| date accessioned | 2017-05-08T23:49:40Z | |
| date available | 2017-05-08T23:49:40Z | |
| date copyright | September, 1996 | |
| date issued | 1996 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26227#566_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/116675 | |
| description abstract | This paper presents a new method to automatically synthesize robot compliant motions based on hybrid impedance control. The scheme relies on decoupled linear impedance models of the robot and the environment, in which the errors due to control, task frame estimation, as well as environment uncertainty are explicitly taken into account. The technique consists of selecting appropriate manipulator impedances to match the environment dynamics and satisfy all the task goals. Two experimental examples of this methodology are presented. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Synthesis of Hybrid Impedance Control Strategies for Robot Manipulators | |
| type | Journal Paper | |
| journal volume | 118 | |
| journal issue | 3 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2801181 | |
| journal fristpage | 566 | |
| journal lastpage | 571 | |
| identifier eissn | 1528-9028 | |
| keywords | Impedance (Electricity) | |
| keywords | Manipulators | |
| keywords | Robots | |
| keywords | Uncertainty | |
| keywords | Structural frames | |
| keywords | Errors | |
| keywords | Dynamics (Mechanics) AND Motion | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1996:;volume( 118 ):;issue: 003 | |
| contenttype | Fulltext |