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Implementation of force and impedance control in robot manipulators

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1 Author(s)
Goldenberg, A.A. ; Dept. of Mech. Eng., Toronto Univ., Ont., Canada

A conceptual treatment is conceptual using linearized models to avoid complexity is presented. However, it is also shown that the approach is suitable when nonlinear models are used. A system configuration which implements both force and impedance control, using feedback and feedforward compensation, for both linear and nonlinear models is obtained. The scheme is currently being implemented in real-time control for testing

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988