Title :
Model reference impedance control of robotic manipulators
Author :
Field, Glen ; Stepanenko, Yury
Author_Institution :
Dept. of Mech. Eng., Victoria Univ., BC, Canada
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;
Conference_Titel :
Communications, Computers and Signal Processing, 1993., IEEE Pacific Rim Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-0971-5
DOI :
10.1109/PACRIM.1993.407286
