DocumentCode
2097288
Title
Compliant motion control with stochastic active observers
Author
Cortesao, Rui ; Koeppe, Ralf ; Nunes, Urbano ; Hirzinger, Gerd
Author_Institution
Inst. of Syst. & Robotics, Coimbra Univ., Portugal
Volume
4
fYear
2001
fDate
2001
Firstpage
1876
Abstract
The theory of active observers was initially described by Cortesao et al. (2000). This paper introduces properties of the Kalman gains used in the active observer (AOB) design. An important result of the state-space design is demonstrated, which allows stiffness adaptation without changing the control structure. Experiments with a human-robot skill transfer system to perform the peg-in-hole compliant motion task are described, showing the importance of the AOB
Keywords
assembling; compliance control; feedback; force control; industrial robots; man-machine systems; observers; state-space methods; Kalman gains; control structure; feedback gains; human-robot interaction; industrial robot; linear system; peg-in-hole assembly; skill transfer; state-space design; stiffness; stochastic active observer; Aerodynamics; Control systems; Force control; Kalman filters; Linear feedback control systems; Motion control; Optimal control; Robots; Servomechanisms; Stochastic processes;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.976347
Filename
976347
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