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A reference force-tracking impedance control system is proposed, consisting of a conventional impedance controller in the inner-loop and a trajectory modifying controller in the outer-loop for force-tracking. The design of the outer-loop is presented and the stability of the two-loop control system is analyzed. A computationally efficient control algorithm for the inner-loop is suggested. Simulation results are presented. The controller is able to achieve excellent position and force-tracking with unknown environment stiffness and the presence of a burr on the tracking surface
Published in:
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Date of Conference: 9-11 Apr 1991
- Page(s):
- 274 - 280 vol.1
- Meeting Date :
- 09 Apr 1991-11 Apr 1991
- Print ISBN:
- 0-8186-2163-X
- INSPEC Accession Number:
- 4086640
- Conference Location :
- Sacramento, CA
- Digital Object Identifier :
- 10.1109/ROBOT.1991.131587
- Product Type:
- Conference Publications
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