Title :
Implementation of force and impedance control in robot manipulators
Author :
Goldenberg, A.A.
Author_Institution :
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
Abstract :
A conceptual treatment is conceptual using linearized models to avoid complexity is presented. However, it is also shown that the approach is suitable when nonlinear models are used. A system configuration which implements both force and impedance control, using feedback and feedforward compensation, for both linear and nonlinear models is obtained. The scheme is currently being implemented in real-time control for testing
Keywords :
compensation; feedback; force control; robots; feedback; feedforward compensation; force control; impedance control; linear model; manipulators; nonlinear models; real-time control; robot; Automatic control; Control systems; Force control; Force feedback; Impedance; Manipulators; Mechanical variables control; Motion control; Robot control; Robotics and automation;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12299
