Title :
A new impedance control concept for elastic joint robots
Author :
Ozawa, R. ; Kobayashi, H.
Author_Institution :
Sch. of Sci. & Technol., Meiji Univ., Kanagawa, Japan
Abstract :
The purpose of this paper is to propose a new impedance control concept for elastic joint robots with programmable passive impedance devices in the transmission. The concept allows us to use the same index both for free motion and for contact task. We apply it to a one-DOF elastic joint robot and derive an adjustment law for the robot. The numerical simulations show that implementation of the concept can be realized without any dynamic models.
Keywords :
force control; robot dynamics; stability; PEJR; adjustment law; elastic joint robots; force control; impedance control; programmable passive impedance devices; stability; Anthropometry; Computer aided software engineering; Design for experiments; Electronic mail; Force control; Humans; Impedance measurement; Motion control; Neural networks; Robot control;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242071
