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A force commanded impedance control scheme for robots with hard nonlinearities

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2 Author(s)
Gonzalez, J.J. ; Dept. of Electr. Eng., State Univ. of New York, New Paltz, NY, USA ; Widmann, G.R.

This paper investigates a hybrid impedance control scheme that utilizes a desired force, rather than a desired position, as the commanded variable. This scheme is examined for a manipulator system in the presence of inherent hardware nonlinearities, and it demonstrates improved performance with respect to an explicit force control structure of a similar degree of robustness. Theoretical conclusions are supported experimentally on a customized Puma 560 Robotic Testbed facility, developed by the authors

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:3 ,  Issue: 4 )

Date of Publication:

Dec 1995

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