Impedance control: An approach to manipulation: Part II-implementation

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

Volumn 107, Issue 1, 1985, Pages 8-16

  Hogan, Neville ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMICS; KINEMATICS; MATERIALS HANDLING - MANIPULATORS; ROBOTICS;

FEEDBACK CONTROL; IMPEDANCE CONTROL; REDUNDANCY;

MECHANISMS;

EID: 0022026637     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.3140713     Document Type: Article

References (36)

1. Abend, W., Bizzi, E., and Morasso, P., “Human Arm Trajectory Formation,” Brain, Vol. 105, 1982, pp. 331-348.
2. Abul-Haj, C. J., “The Design of an Upper Arm Prosthesis Simulator with Variable Mechanical Impedance,” S.M. thesis, Department of Mechanical Engineering, MIT, Sept. 1981.
3. Andrews, J. R., and Hogan, N., “Impedance Control as a Framework for Implementing Obstacle Avoidance in a Manipulator,” pp. 243-251 in: Control of Manufacturing Processes and Robotic Systems, Eds. Hardt, D. E. and Book, W. J., American Society of Mechanical Engineers, New York, 1983.
4. Asada, H., “A Geometrical Representation of Manipulator Dynamics and its Application to Arm Design,” pp. 1-8 in; Robotics Research and Advanced Applications, Ed. Book, W. J., American Society of Mechanical Engineers, New York, 1982.
5. Brady, M., Hollerbach, J., Johnson, T., Lozano-Perez, T., and Mason, M., (Eds.), Robot Motion: Planning and Control, MIT Press, Cambridge, 1983.
6. Cotter, S. L., “Nonlinear Feedback Control of Manipulator Endpoint Impedance,” S. M. thesis, Department of Mechanical Engineering, MIT, Sept., 1982.
7. Crago, P. E., Houk, J. C., and Hasan, Z., “Regulatory Actions of Human Stretch Reflex,” Journal of Neurophysiology, Vol. 39, 1976, pp. 925-935.
8. Crandall, S. H., Karnopp, D. C., Kurtz, E. F. Jr., and Pridmore-Brown, D. C., Dynamics of Mechanical and Electromechanical Systems, McGraw-Hill, New York, 1968.
9. Dubowsky, S., and Des Forges, D. T., “The Application of Model-Referenced Adaptive Control to Robotic Manipulators,” ASME Journal of Dynamic Systems, Measurement and Control, Vol. 101, 1979, pp. 193-200.
10. Goertz, R. C., “Manipulators Used for Handling Radioactive Materials,” Chapter 27 in: Human Factors in Technology, Ed. Bennett, E. M., McGraw-Hill, 1963.
11. Gordon, A. M., Huxley, A. F., and Julian, F. J., “The Variation in Isometric Tension with Sarcomere Length in Vertebrate Muscle Fibers,” Journal of Physiology, Vol. 184, 1966, pp. 170-192.
12. Hoffer, J. A., and Andreassen, S., “Limitations in the Servo-Regulation of Soleus Muscle Stiffness in Premammillary Cats,” in: Muscle Receptors and Movement, Eds. Taylor, A. and Prochazka, A., Macmillan, London, 1981.
13. Hogan, N., “Mechanical Impedance Control in Assistive Devices and Manipulators,” Proceedings of the Joint Automatic Controls Conference, Vol. 1, San Francisco, Aug. 1980.
14. Hogan, N., “Programmable Impedance Control of Industrial Manipulators,” Proceedings of the Conference on CAD/CAM in Mechanical Engineering, MIT, Mar. 1982.
15. Hogan, N., “Adaptive Control of Mechanical Impedance by Coactivation of Antagonist Muscles,” IEEE Transactions on Automatic Control, Vol. AC-29, No. 8, August 1984, pp. 681-690.
16. Hogan, N., and Cotter, S. L., “Cartesian Impedance Control of a Nonlinear Manipulator,” pp. 121-128 in: Robotics Research and Advanced Applications, Ed. Book, W. J., American Society of Mechanical Engineers, New York, 1982.
17. HoIIerbach, J. M., “A Recursive Formulation of Lagrangian Manipulator Dynamics,” IEEE Transactions on Systems, Man and Cybernetics, Vol. 10, 1980, pp. 730-736.
18. Horn, B. K. P., and Raibert, M. H., “Configuration Space Control,” The Industrial Robot, June 1978, pp. 69-73.
19. Kleidon, M. A., “Modeling and Performance of a Pneumatic/Hydraulic Actuator with Tunable Mechanical Impedance,” S. M. thesis, Department of Mechanical Engineering, MIT, Sept. 1983.
20. Lanman, J. M., “Movement and the Mechanical Properties of the Intact Human Elbow Joint,” Ph.D. thesis, Department of Psychology, MIT, June 1980.
21. Luh, J. Y. S., Walker, M. W., and Paul, R. P. C., “On-line Computational Scheme for Mechanical Manipulators,” ASME Journal of Dynamic Systems, Measurement and Control, Vol. 102, pp. 69-76, June 1980.
22. Luh, J. Y. S., Walker, M. W., and Paul, R. P. C., “Resolved Acceleration Control of Mechanical Manipulators,” IEEE Transactions on Automatic Control, Vol. AC-25, 1980, pp. 468-474.
23. Makino, H., Furuya, N., Soma, K., and Chin, E., “Research and Development of the SCARA Robot,” Proceedings of the 4th International Conference on Production Engineering, Tokyo, 1980.
24. Morasso, P., “Spatial Control of Arm Movements,” Experimental Brain Research, Vol. 42, 1981, pp. 223-227.
25. Nichols, T. R., “Soleus Muscle Stiffness and Its Reflex Control,” Ph.D. thesis, Harvard University, Cambridge, MA, 1974.
26. Nichols, T. R., and Houk, J. C., “Improvement in Linearity and Regulation of Stiffness that Results from Actions of Stretch Reflex,” Journal of Neurophysiology, Vol. 39, 1976, pp. 119-142.
27. Paul, R. P., “Manipulator Cartesian Path Control,” IEEE Transactions on Systems, Man, and Cybernetics, Vol. SMC-9, 1979, pp. 702-711.
28. Paul, R. P., Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, Mass., 1981.
29. Ruch, T. C., and Patton, H. E., Physiology and Biophysics, W. B. Saunders Co., New York, 3966.
30. Steifei, E. L., and Scheifele, G., Linear and Regular Celestial Mechanics, Springer-Verlag, New York, 1971.
31. Takahashi, Y., Rabins, M. J., and Ausländer, D. M., Control and Dynamic Systems, Addison-Wesley, Mass., 1970.
32. Taylor, R. H., “Planning and Execution of Straight Line Manipulator Trajectories,” IBM Journal of Research and Development, Vol. 23, 1979, pp. 424-436.
33. Whitaker, E. T., A Treatise on the Analytical Dynamics of Particles and Rigid Bodies, Cambridge University Press, 1904 and Dover, New York, 1944.
34. Whitney, D. E., “Resolved Motion Rate Control of Manipulators and Human Prostheses,” IEEE Transactions on Man-Machine Systems, Vol. MMS-10, No. 2, June 1969, pp. 47-53.
35. Whitney, D. E., “The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators,” ASME Journal of Dynamic Systems, Measurement, and Control, Dec. 1972, pp. 303-309.
36. Zahaiak, G. I., and Heyman, S. J., “A Quantitative Evaluation of the Frequency Response Characteristics of Active Human Skeletal Muscle in Vivo,” ASME Journal of Biomechanical Engineering, Vol. 101, 1979, pp. 28-37.