DocumentCode
489561
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
fYear
1992
fDate
24-26 June 1992
Firstpage
1237
Lastpage
1238
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1992
Conference_Location
Chicago, IL, USA
Print_ISBN
0-7803-0210-9
Type
conf
Filename
4792293
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