Title :
Impedance Control of Redundant Manipulators for Minimization of Collision Impact
Author :
Lin, Z. ; Patel, R.V. ; Balafoutis, C.A.
Author_Institution :
Department of Electrical & Computer Engineering, Concordia University, Montreal, Quebec, Canada H3G 1M8
Abstract :
In this paper a Method for impedance control of redundant manipulators for minimization of collision impact is proposed. A reduced-order impedance controller, combind with angmented configuration control is studied for impulsive force and rebound reduction. Simulation results to verify the proposed scheme are presented.
Keywords :
Bismuth; Damping; Force control; Impedance; Jacobian matrices; Kinematics; Manipulator dynamics; Motion control; Robots; Tellurium;
Conference_Titel :
American Control Conference, 1992
Conference_Location :
Chicago, IL, USA
Print_ISBN :
0-7803-0210-9
