DocumentCode
2244279
Title
A new impedance control concept for elastic joint robots
Author
Ozawa, R. ; Kobayashi, H.
Author_Institution
Sch. of Sci. & Technol., Meiji Univ., Kanagawa, Japan
Volume
3
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
3126
Abstract
The purpose of this paper is to propose a new impedance control concept for elastic joint robots with programmable passive impedance devices in the transmission. The concept allows us to use the same index both for free motion and for contact task. We apply it to a one-DOF elastic joint robot and derive an adjustment law for the robot. The numerical simulations show that implementation of the concept can be realized without any dynamic models.
Keywords
force control; robot dynamics; stability; PEJR; adjustment law; elastic joint robots; force control; impedance control; programmable passive impedance devices; stability; Anthropometry; Computer aided software engineering; Design for experiments; Electronic mail; Force control; Humans; Impedance measurement; Motion control; Neural networks; Robot control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242071
Filename
1242071
Link To Document