Title :
An adaptive impedance controller for robot manipulators in task space
Author :
Xu, Weimin ; Shao, Cheng ; Chai, Tianyou
Author_Institution :
Res. Center of Autom., Northeastern Univ., Shenyang, China
Abstract :
This paper develops an adaptive impedance controller for robot end-effectors performing tasks in Cartesian space, which does not require any knowledge of either the structure or the parameters of the manipulator dynamic and is implemented without calculation of the robot inverse kinematic transformation. The scheme is computationally efficient and is implementable with both nonredundant and redundant manipulators
Keywords :
adaptive control; computational complexity; manipulators; redundancy; Cartesian space; adaptive impedance controller; computationally efficient scheme; nonredundant manipulators; redundant manipulators; robot end-effectors; robot manipulators; task space; Adaptive control; Equations; Erbium; Impedance; Manipulator dynamics; Orbital robotics; Programmable control; Robot control; Robot kinematics; Robotics and automation;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.574341
