Title :
On the implementation of stiffness control on a manipulator using rubber actuators
Author :
Guanghua, Zong ; Rong, Liu
Author_Institution :
Robotics Res. Inst., Beijing Univ. of Aeronaut. & Astronaut., China
Abstract :
This paper deals with the stiffness control problem for a manipulator actuated by rubber actuators. Two stiffness control methods, the adjusting ΔP method and the adjusting P0 method are presented and studied. The adjusting P0 method utilizes the intrinsic flexibility of the rubber actuator to realize the joint stiffness control, which is different from conventional force control methods. Both methods are demonstrated experimentally, and their feasibility is confirmed with experimental results
Keywords :
actuators; force control; manipulators; adjusting ΔP method; adjusting P0 method; joint stiffness control; manipulator; rubber actuators; Control systems; Equations; Force control; Manipulators; Pneumatic actuators; Position control; Pressure control; Robots; Rubber; State feedback;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.537755
