DocumentCode
2319460
Title
Impedance control without using velocity measurements
Author
Erlic, Mile ; Lu, W.-S.
Author_Institution
Dept. of Electr. & Comput. Eng., Victoria Univ., BC, Canada
fYear
1993
fDate
13-16 Sep 1993
Firstpage
47
Abstract
An impedance controller has been realized using: an end-effector force/torque sensor and joint displacement sensors only. Joint velocities are obtained with a reduced order nonlinear velocity observer. The system dynamics exhibit locally asymptotically stable end-effector Cartesian position, velocity and force tracking. The observer plus impedance controller has been simulated resulting in strong correlation between theory and simulation
Keywords
force control; large-scale systems; manipulators; nonlinear systems; position control; stability; state estimation; torque control; tracking; end-effector force/torque sensor; impedance controller; joint displacement sensors; locally asymptotically stable end-effector Cartesian tracking; reduced order nonlinear velocity observer; Equations; Force control; Force feedback; Force sensors; Impedance measurement; Jacobian matrices; Manipulator dynamics; Position measurement; Velocity control; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1993., Second IEEE Conference on
Conference_Location
Vancouver, BC
Print_ISBN
0-7803-1872-2
Type
conf
DOI
10.1109/CCA.1993.348308
Filename
348308
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