Title :
Generalized impedance of manipulators: its application to force and position control
Author :
Lee, Sukhan ; Lee, Hahk Sung
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Presents generalized impedance control as a unified approach to position, force and compliance control of robot arms dynamically interacting with an uncertain environment. Generalized impedance control is based on representing the desirable behavior of a manipulator as a general relation between the motion error and the contact force error, referred to as generalized impedance.<>
Keywords :
compliance control; force control; manipulators; position control; compliance control; contact force error; force control; generalized impedance control; manipulators; motion error; position control; uncertain environment; Error correction; Force control; Impedance; Iron; Laboratories; Manipulator dynamics; Matrices; Motion control; Position control; Propulsion;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240530
