Conference
Synthesis of robust compliant motions based on impedance models
Abstract
This paper presents a new approach to the problem of control synthesis and motion planning for compliant motions of manipulators. The scheme is based 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 characterizing the position, velocity and force responses of the …
Authors
Pelletier M; Daneshmend LK
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
January 1, 1994
DOI
10.1109/robot.1994.350906
Name of conference
Proceedings of the 1994 IEEE International Conference on Robotics and Automation