Impedance control for industrial robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2000, Pages 4027-4032

  Ferretti, Gianni ^a   Magnani, GianAntonio ^a   Rocco, Paolo ^a   Cecconello, Flavio ^a   Rossetti, Gianmarco ^a  

^a POLITECNICO DI MILANO   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

IMPEDANCE CONTROL; TORSIONAL FLEXIBILITY;

APPROXIMATION THEORY; DEGREES OF FREEDOM (MECHANICS); FRICTION; MANIPULATORS; POSITION CONTROL; SENSORS; TRANSFER FUNCTIONS;

INDUSTRIAL ROBOTS;

EID: 0033692828     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

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2. J. K. Salisbury: "Active stiffness control of a manipulator in Cartesian coordinates", Proc. IEEE Conf: Deck Contr., Dec. 1980, pp 95-100
3. N. Hogan: " Impedance control: An approach to manipulation, Part I - Theory, Part II - Implementation, Part III - A-pplications", Journ. of Dyn. Syst., Meas. Cont., 838-844. Vol 107, 1985, pp. 1-24
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9. R. Volpe, P. Khosla: "The equivalence of second-order impedance control and proportional gain explicit force control", Inf. Jour. Rob. Res., Vol. 14, No. 6, pp. 574-589.
10. F. Caccavale, C. Natale, B. Siciliano, L. Villani: " Six-DOF impedance control based on anglehis representations", IEEE Trans. Rob. Autom., Vol 15, No. 2, 1999, pp. 289-300.
11. P. Rocco, G. Ferretti, G. Magnani: "Implicit force control for industrial robots in contact with stiff surfaces ", Automatica, 1997, Vol 33, No. 11, pp. 2041-2047.