Cartesian impedance control for the DLR Hand

Author

Liu, H. ; Hirzinger, G.

Author_Institution

Inst. of Robotics & Syst. Dynamics, German Aerosp. Res. Establ., Wessling, Germany

Volume

1

fYear

1999

fDate

1999

Firstpage

106

Abstract

Presents a novel Cartesian impedance control for the DLR (German Aerospace Center) Hand based on joint torque measurements. The fingertip appears as mechanical impedance when it contacts with an unknown obstacle. The impedance parameters can be adjusted in a certain range as needed in any Cartesian coordinate system. There is no switching mode between the motions in the free space and in the constraint environment. The paper also gives a detailed analysis of the finger´s kinematics and dynamics model. Experimental results have verified the effectiveness and robustness of the proposed scheme

Keywords

Jacobian matrices; dexterous manipulators; force control; manipulator dynamics; manipulator kinematics; torque measurement; Cartesian impedance control; DLR Hand; fingertip; joint torque measurements; mechanical impedance; robustness; Aerodynamics; Aerospace control; Control systems; Equations; Fingers; Mechanical variables control; Robot kinematics; Surface impedance; Tendons; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.812989

Filename

812989