DocumentCode
3303799
Title
Model reference impedance control of robotic manipulators
Author
Field, Glen ; Stepanenko, Yury
Author_Institution
Dept. of Mech. Eng., Victoria Univ., BC, Canada
Volume
2
fYear
1993
fDate
19-21 May 1993
Firstpage
614
Abstract
A model reference impedance controller which requires neither a dynamic model of the robot nor torque controlled actuators has been implemented on an industrial manipulator. The controller has been implemented on a six-degree-of-freedom industrial arm. No model of the manipulator dynamics was required, just an underlying controller capable of tracking a specified path in joint space. The bandwidth of the impedance control will be limited by the bandwidth of the manipulator and its underlying position controller
Keywords
controllers; electric impedance; industrial manipulators; model reference adaptive control systems; position control; tracking; bandwidth; industrial arm; industrial manipulator; model reference impedance controller; position controller; robotic manipulators; tracking; Actuators; Control systems; Damping; End effectors; Force control; Impedance; Manipulator dynamics; Robot control; Robot kinematics; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Communications, Computers and Signal Processing, 1993., IEEE Pacific Rim Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-7803-0971-5
Type
conf
DOI
10.1109/PACRIM.1993.407286
Filename
407286
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