DocumentCode
1747599
Title
Stiffness control for geared manipulators
Author
Tischler, Neil ; Goldenberg, Andrew A.
Author_Institution
Inst. fur Mess- und Sensorsyst., Rostock, Germany
Volume
3
fYear
2001
fDate
2001
Firstpage
3042
Abstract
This paper presents the results from an experimental investigation into the performance of stiffness control, implemented on a two degree-of-freedom manipulator that uses harmonic drive gears. Stiffness control, which is the simplest form of impedance control, was implemented using force feedback. The results demonstrate the benefits of using force feedback to compensate for static friction effects and for the difficulty in accurately controlling the joint torques for geared manipulators.
Keywords
force control; force feedback; manipulator dynamics; stiction; torque control; dynamics; feedback; flexible joint; force control; geared manipulators; harmonic drive gears; impedance control; static friction; stiffness control; torque control; Automatic control; End effectors; Error correction; Force control; Force feedback; Friction; Gears; Impedance; Manipulator dynamics; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933084
Filename
933084
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