DocumentCode
307197
Title
An adaptive impedance controller for robot manipulators in task space
Author
Xu, Weimin ; Shao, Cheng ; Chai, Tianyou
Author_Institution
Res. Center of Autom., Northeastern Univ., Shenyang, China
Volume
1
fYear
1996
fDate
11-13 Dec 1996
Firstpage
392
Abstract
This paper develops an adaptive impedance controller for robot end-effectors performing tasks in Cartesian space, which does not require any knowledge of either the structure or the parameters of the manipulator dynamic and is implemented without calculation of the robot inverse kinematic transformation. The scheme is computationally efficient and is implementable with both nonredundant and redundant manipulators
Keywords
adaptive control; computational complexity; manipulators; redundancy; Cartesian space; adaptive impedance controller; computationally efficient scheme; nonredundant manipulators; redundant manipulators; robot end-effectors; robot manipulators; task space; Adaptive control; Equations; Erbium; Impedance; Manipulator dynamics; Orbital robotics; Programmable control; Robot control; Robot kinematics; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location
Kobe
ISSN
0191-2216
Print_ISBN
0-7803-3590-2
Type
conf
DOI
10.1109/CDC.1996.574341
Filename
574341
Link To Document