Title :
Impedance control for industrial robots
Author :
Ferretti, Gianni ; Magnani, GianAntonio ; Rocco, Paolo ; Cecconello, Flavio ; Rossetti, Gianmarco
Author_Institution :
Dipt. di Elettronica e Inf., Politecnico di Milano, Italy
Abstract :
A new impedance controller is presented. Special attention has been paid to all those aspects that qualify an industrial robot, including decentralized PID positional control, torsional flexibility and friction at the joints. Discussion of a single degree of freedom case proved to be valuable in the design of the impedance controller for a complete manipulator. Several experimental results obtained on a 6 degrees-of-freedom industrial robot equipped with a force/torque sensor, are given
Keywords :
decentralised control; friction; industrial robots; mechanical variables control; position control; three-term control; PID control; decentralized control; force/torque sensor; friction; impedance control; industrial robot; position control; torsional flexibility; Force sensors; Friction; Impedance; Industrial control; Manipulators; Robot control; Robot sensing systems; Service robots; Three-term control; Torque;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845359
