Title :
Motion/force/impedance control for robot tasks
Author :
Mayeda, Hirokazu ; Ikeda, Nobuya
Author_Institution :
Dept. of Comput. & Syst. Eng., Ritsumeikan Univ., Japan
Abstract :
A motion/force/impedance controller of a robot arm is designed for the task of pushing a plate along a wall without any rotation. The control scheme has been proposed and applied to a robot task. This paper concerns how a robot arm can exert a given force on a moving object. It is shown by simulations that the designed controller works well for this task and is robust to significant uncertainties in the environment
Keywords :
manipulators; environmental uncertainties; force; motion/force/impedance controller; moving object; nonrotating plate pushing; robot arm; robustness; simulations; wall; Control systems; Design engineering; Force control; Impedance; Manipulator dynamics; Modeling; Motion control; Robot control; Systems engineering and theory; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583842
