Synthesis of hybrid impedance control strategies for robot manipulators

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 118, Issue 3, 1996, Pages 566-571

  Pelletier, Michel ^a  

^a HYDRO QUÉBEC   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0009505807     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2801181     Document Type: Article

References (20)

1. Asada, H., 1990, “Teaching and learning of compliance using neural nets: Representation and generation of nonlinear compliance, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1237-1244.
2. Asada, H. and Kakumoto, Y., 1990, “The dynamic analysis and design of a high-speed insertion hand using the generalized centroid and virtual mass,” Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 112, pp. 646-652.
3. Buckley, S. J., 1989, “Planning Compliant Motion Strategies,” The International Journal of Robotics Research, Vol. 8(5), pp. 28-44.
4. Cole, A. A., Hsu, P., and Sastry, S. S., 1992, “Dynamic Control of Sliding by Robot Hands for Regrasping,” IEEE Transactions on Robotics and Automation, Vol. 8(1), pp. 42-52.
5. Dawson, D. M., Lewis, F. L., and Dorsey, J. F., 1992, “Robust Force Control of a Robot Manipulator,” The International Journal of Robotics Research, Vol. 11(4), pp. 312-319.
6. Hestenes, M. R. and Stiefel, E. L., 1952, “Methods of Conjugate Gradients for Solving Linear Systems,” J. Res. Nat. Bur. Standards, B-49: pp. 409-436.
7. Hogan, N., 1985, “Impedance control: An approach to manipulation, parts I, II and III, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 107, pp. 1-24.
8. Houde, R., Tremblay, J., Laurendeau, D., and Pelletier, M., 1993, “Estimating the Pose of 2-D Objects Using Potential Functions and Quadtrees, Graphics/Vision Interface, pp. 15-20.
9. Huang, X., Hu, J., and Chen, J., 1992, “Analysis and Impedance Control of Robot Assembly Task,” Proceedings of the International Conference on Manufacturing Automation, pp. 889-894.
10. Kazerooni, H., Sheridan, T. B., and Houpt, P. K„ 1986, “Robust Compliant Motion for Manipulators, Parts I and II,” IEEE Journal of Robotics and Automation, Vol. RA(2), pp. 83-105.
11. Lawrence, D. A., 1989, “Actuator Limitations on Achievable Manipulator Impedance,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 560-565.
12. Lozano-Perez, T., Mason, M. T., and Taylor, R. H., 1984, “ Automatic Synthesis of Fine Motion Strategies for Robots,” The International Journal of Robotics Research, Vol. 13(1), pp. 3-24.
13. Mills, J. K., and Lokhorst, D. M., 1993, “Control of robotic manipulators during general task execution: a discontinuous control approach,” The International Journal of Robotics Research, Vol. 12(2), pp. 146-163.
14. Pelletier, M., 1994, “Automatic Synthesis of Compliant Motions for Robot Tasks with Uncertainty,” PhD thesis, McGill University, Department of Electrical Engineering, Montreal, Canada.
15. Pelletier, M., and Daneshmend, L. K., 1994, “Synthesis of Robust Compliant Motions Based on Impedance Models,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2713-2718.
16. Pelletier, M., and Doyon, M., 1994, “On the implementation and performance of impedance control on position controlled robots,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1228-1233.
17. Raibert, M. H., and Craig, J. J., 1981, “Hybrid position/force control of manipulators,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 102, pp. 126-133.
18. Schimmels, J. M., and Peshkin, M. A., 1990, “Synthesis and Validation of Non-Diagonal Accomodation Matrices for Error-Corrective Assembly,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 714- 719.
19. Shimoga, K. B., and Goldenberg, A. A., 1991, Grasp admittance center: Choosing admittance center parameters. Proceedings of the 10th American Control Conference, pages 2527-2532.
20. Wolfram, S., 1991, Mathematical A System for Doing Mathematics by Computer, Addison Wesley, second edition.