By Topic

Experiments in object impedance control for flexible objects

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.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Weer, D.M. ; Aerosp. Robotics Lab., Stanford Univ., CA, USA ; Rock, S.M.

This paper presents a control strategy for manipulation of flexible objects by multiple robot arms. The control policy developed in this paper for flexible objects is based on a controller developed previously for rigid objects: the object impedance controller. The controller compensates for the dynamics of both the arms and the object and responds to environmental forces with a fully programmable impedance relationship. For a class of flexible objects, the required extensions to object impedance control are outlined in this paper. The paper presents experimental results for a dual arm robotic system manipulating an object with a single flexible degree of freedom in both free-space and environmental contact tasks

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994