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Spatial impedance control of redundant manipulators
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2003This work is focused on impedance control of redundant manipulators. A spatial impedance formulation is presented where general 6-DOF end-effector tasks can be handled. A singularity-free angle/axis representation of end-effector orientation is used which allows geometric task consistency to be preserved.
C. NATALE +2 more
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A Controlled Impedance Robot Gripper
AT&T Technical Journal, 1985The design of robot grippers has traditionally involved pneumatics or gear reduction electric drives that do not allow for the control of the stiffness of the mechanism. The manipulation of fragile objects such as eggs or light bulbs requires the gripper to be able to close on the object with minimal impact forces, and yet maintain a static grip force ...
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Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104), 2002
Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, there is a need for control algorithms with position tracking performance and force control ability. Up to date many algorithms have been proposed which deal with robot motion and force control.
A. Hace, K. Jezernik, S. Uran
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Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, there is a need for control algorithms with position tracking performance and force control ability. Up to date many algorithms have been proposed which deal with robot motion and force control.
A. Hace, K. Jezernik, S. Uran
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2010
This chapter is devoted to adaptive impedance matching techniques that have been investigated as a means to improve the link quality of mobile phones under fluctuating operating conditions. Adaptive techniques are attractive because they provide resilience to changes in body-effects and phone form factor.
van Bezooijen, André +2 more
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This chapter is devoted to adaptive impedance matching techniques that have been investigated as a means to improve the link quality of mobile phones under fluctuating operating conditions. Adaptive techniques are attractive because they provide resilience to changes in body-effects and phone form factor.
van Bezooijen, André +2 more
openaire +2 more sources
Decentralized impedance control
1994Many applications of manipulators to date have been based on position control, but when a robot manipulator makes contact with the environment, the control of force and position is required. One approach, impedance control, is to control the manipulator such that the relationship between position and force is well defined.
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