• DocumentCode
    301299
  • 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
  • Volume
    1
  • fYear
    1995
  • fDate
    22-25 Oct 1995
  • Firstpage
    183
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/ICSMC.1995.537755
  • Filename
    537755
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=301299