Referenced Items are not available for this document.
Proposes an impedance control method that can regulate a virtual impedance between a robot manipulator and external objects using visual information. The conventional impedance control method is not useful in some cases where no interaction force between the arm and its environment exists, although it is one of the most effective control methods for manipulators in contact with the environment. Using the proposed method, we can control the manipulator motion based on the virtual impedance before contact with the objects. The validity of the proposed method is verified through computer simulations and experiments using a direct-drive robot
Published in:
Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on
(Volume:29
,
Issue:
2
)
Date of Publication: Mar 1999
- Page(s):
- 184 - 193
- ISSN :
- 1083-4427
- INSPEC Accession Number:
- 6177420
- Digital Object Identifier :
- 10.1109/3468.747853
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Mar 1999
- Sponsored by :
- IEEE Systems, Man, and Cybernetics Society
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