Title :
Disturbance observer based hybrid impedance control
Author :
Bickel, Robert J. ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
Examines a control algorithm that utilizes a disturbance observer based acceleration tracking controller to realize a robust hybrid impedance control of a robot manipulator. Pure impedance control and edge following simulation results are presented
Keywords :
acceleration control; force control; manipulators; observers; tracking; acceleration tracking controller; disturbance observer based hybrid impedance control; edge following simulation; pure impedance control; robot manipulator; Equations; Force control; Impedance; Manipulator dynamics; Mechanical engineering; Orbital robotics; Robot kinematics; Robot sensing systems; Robust control; Torque;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529346
