Title :
Stiffness control for geared manipulators
Author :
Tischler, Neil ; Goldenberg, Andrew A.
Author_Institution :
Inst. fur Mess- und Sensorsyst., Rostock, Germany
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933084
