Title :
Impedance control without using velocity measurements
Author :
Erlic, Mile ; Lu, W.-S.
Author_Institution :
Dept. of Electr. & Comput. Eng., Victoria Univ., BC, Canada
Abstract :
An impedance controller has been realized using: an end-effector force/torque sensor and joint displacement sensors only. Joint velocities are obtained with a reduced order nonlinear velocity observer. The system dynamics exhibit locally asymptotically stable end-effector Cartesian position, velocity and force tracking. The observer plus impedance controller has been simulated resulting in strong correlation between theory and simulation
Keywords :
force control; large-scale systems; manipulators; nonlinear systems; position control; stability; state estimation; torque control; tracking; end-effector force/torque sensor; impedance controller; joint displacement sensors; locally asymptotically stable end-effector Cartesian tracking; reduced order nonlinear velocity observer; Equations; Force control; Force feedback; Force sensors; Impedance measurement; Jacobian matrices; Manipulator dynamics; Position measurement; Velocity control; Velocity measurement;
Conference_Titel :
Control Applications, 1993., Second IEEE Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1993.348308
