DocumentCode
3060346
Title
Stability of mechanical impedence controlled manipulators in workspace coordinates
Author
Grunberg, D.B. ; Spang, H. ; Athans, M.
Author_Institution
Massachusetts Institute of Technology, Cambridge, Massachusetts
fYear
1984
fDate
12-14 Dec. 1984
Firstpage
1053
Lastpage
1057
Abstract
The design of a controller for the implementation of impedance control for small interaction forces is considered. Impedance control refers to the specification of the mechanical impedance of the manipulator seen from the environment. The stability of the complete system with coordinate transformations is analyzed and a method for reducing the effect of Jacobian matrices with large condition numbers on stability test conservativeness is derived. An actual implementation of a stiffness controller (zero mass and damping) on the Rhino XR-1 robot is described.
Keywords
Control systems; Force control; Force measurement; Impedance; Jacobian matrices; Manipulator dynamics; Robot kinematics; Springs; Stability; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1984. The 23rd IEEE Conference on
Conference_Location
Las Vegas, Nevada, USA
Type
conf
DOI
10.1109/CDC.1984.272174
Filename
4048050
Link To Document