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A decentralized object impedance controller for object/robot-team systems: theory and experiments

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3 Author(s)
Dickson, W.C. ; Lockheed Missiles & Space Co. Inc., Palo Alto, CA, USA ; Cannon, R.H., Jr. ; Rock, S.M.

This paper derives a decentralized object impedance controller (DOIC) especially suited for use by a team of robots and/or multiple manipulators. In contrast to the original object impedance controller (OIC), a separate DOIC operates on each robot to provide local computation of the manipulator force commands, thus removing the need for expensive high-bandwidth communication of force signals between the robots. The key advance of the DOIC that provides this benefit is a decentralized algorithm for estimating the external force on the object. This paper derives the DOIC, provides stability analysis, and verifies the theory with definitive physical experiments

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997