DocumentCode
2042142
Title
Impedance control for industrial robots
Author
Ferretti, Gianni ; Magnani, GianAntonio ; Rocco, Paolo ; Cecconello, Flavio ; Rossetti, Gianmarco
Author_Institution
Dipt. di Elettronica e Inf., Politecnico di Milano, Italy
Volume
4
fYear
2000
fDate
2000
Firstpage
4027
Abstract
A new impedance controller is presented. Special attention has been paid to all those aspects that qualify an industrial robot, including decentralized PID positional control, torsional flexibility and friction at the joints. Discussion of a single degree of freedom case proved to be valuable in the design of the impedance controller for a complete manipulator. Several experimental results obtained on a 6 degrees-of-freedom industrial robot equipped with a force/torque sensor, are given
Keywords
decentralised control; friction; industrial robots; mechanical variables control; position control; three-term control; PID control; decentralized control; force/torque sensor; friction; impedance control; industrial robot; position control; torsional flexibility; Force sensors; Friction; Impedance; Industrial control; Manipulators; Robot control; Robot sensing systems; Service robots; Three-term control; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.845359
Filename
845359
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