Synthesis of Hybrid Impedance Control Strategies for Robot Manipulators Journal Articles

abstract

• This paper presents a new method to automatically synthesize robot compliant motions based on hybrid impedance control. The scheme relies on decoupled linear impedance models of the robot and the environment, in which the errors due to control, task frame estimation, as well as environment uncertainty are explicitly taken into account. The technique consists of selecting appropriate manipulator impedances to match the environment dynamics and satisfy all the task goals. Two experimental examples of this methodology are presented.

authors

• Pelletier, Michel

status

• published 

publication date

• September 1, 1996

has subject area

• 09 Engineering (FoR)
• Industrial Engineering & Automation (Science Metrix)

published in

• Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME  Journal

keywords

• 40 Engineering
• 4007 Control Engineering, Mechatronics and Robotics
• 4010 Engineering Practice and Education

Digital Object Identifier (DOI)

• 10.1115/1.2801181

start page

• 566

end page

• 571

volume

• 118

issue

• 3