Hybrid impedance control of robotic manipulators

The inclusion of force information in the control of robots increases their adaptability to uncertain environments, such as are found in deburring, grinding, and assembly tasks. The authors present a foundation for force control strategies, in view of the fact that the type of control strategy that...

Full description

Saved in:
Bibliographic Details
Published in:IEEE journal of robotics and automation 1988-10, Vol.4 (5), p.549-556
Main Authors: Anderson, R.J., Spong, M.W.
Format: Article
Language:English
Subjects:
Applied sciences
Control systems
Exact sciences and technology
Force control
Force sensors
Impedance
Manipulators
Material handling, hoisting. Storage. Packaging
Motion control
Orbital robotics
Robot control
Robot kinematics
Robot sensing systems
Transfert equipment, manipulators
industrial robots
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The inclusion of force information in the control of robots increases their adaptability to uncertain environments, such as are found in deburring, grinding, and assembly tasks. The authors present a foundation for force control strategies, in view of the fact that the type of control strategy that is employed depends fundamentally on the characteristics of the environment. A general control approach is introduced, called hybrid impedance control which in its simplest forms reduces the operational space control of O. Khatib and J. Burdick (1986), or to N. Hogan's (1985) impedance control. The control law is formulated in a general enough fashion, however, to allow for higher order controllers.< >
ISSN:0882-4967
2374-8710
DOI:10.1109/56.20440