Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Hybrid impedance control of robotic manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
2 Author(s)
Anderson, R. ; Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA ; Spong, M.W.

The inclusion of force information in the control of robots increases their adaptability to uncertain environments, such as are found in deburring, grinding, and assembly tasks. The authors present a foundation for force control strategies, in view of the fact that the type of control strategy that is employed depends fundamentally on the characteristics of the environment. A general control approach is introduced, called hybrid impedance control which in its simplest forms reduces the operational space control of O. Khatib and J. Burdick (1986), or to N. Hogan's (1985) impedance control. The control law is formulated in a general enough fashion, however, to allow for higher order controllers

Published in:

Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 5 )