DocumentCode
3340164
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
fYear
1991
fDate
19-22 June 1991
Firstpage
1477
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICAR.1991.240530
Filename
240530
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