Conference
On the implementation and performance of impedance control on position controlled robots
Abstract
This paper discusses the implementation and performance of the impedance control scheme on position controlled robot manipulators. The performance of such impedance controllers is very dependent on the behavior of the underlying position controller. Three different configurations are presented and compared with respect to their ability to follow the nominal impedance equation, as well as their ease of implementation. A very simple method based …
Authors
Pelletier M; Doyon M
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
January 1, 1994
DOI
10.1109/robot.1994.351318
Name of conference
Proceedings of the 1994 IEEE International Conference on Robotics and Automation