DocumentCode
2001374
Title
Disturbance observer based hybrid impedance control
Author
Bickel, Robert J. ; Tomizuka, Masayoshi
Author_Institution
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Volume
1
fYear
1995
fDate
21-23 Jun 1995
Firstpage
729
Abstract
Examines a control algorithm that utilizes a disturbance observer based acceleration tracking controller to realize a robust hybrid impedance control of a robot manipulator. Pure impedance control and edge following simulation results are presented
Keywords
acceleration control; force control; manipulators; observers; tracking; acceleration tracking controller; disturbance observer based hybrid impedance control; edge following simulation; pure impedance control; robot manipulator; Equations; Force control; Impedance; Manipulator dynamics; Mechanical engineering; Orbital robotics; Robot kinematics; Robot sensing systems; Robust control; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.529346
Filename
529346
Link To Document