Title :
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
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;
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
DOI :
10.1109/IROS.1999.812989
