Title :
Impedance control as merging mechanism for a behaviour-based architecture
Author :
Beccari, G. ; Stramigioli, S.
Author_Institution :
Dipartimento di Ingegneria dell´´Inf., Parma Univ., Italy
Abstract :
This article presents a robotics architecture for impedance controlled manipulators. The impedance superposition principle is exploited in order to build a merging mechanism for behaviour-based architectures. A preliminary set of experiments shows the potentiality of the proposed approach
Keywords :
computerised control; damping; manipulators; mechanical variables control; path planning; position control; software agents; behaviour-based architecture; damping; impedance control; impedance superposition; manipulators; obstacle avoidance agents; position control; reactive architecture; Force control; Impedance; Information technology; Level control; Manipulators; Merging; Motion control; Robot sensing systems; Robotic assembly; Voltage;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677305
