Synthesis of impedance control for complex co-operating robot assembly task

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn 2, Issue , 2001, Pages 1181-1186

  Surdilovic D ^a   Grassini, F ^a   De Bartolomei, M ^a  

^a IPK Berlin   (Germany)

Author keywords

Cooperation; Impedance control; Tuning procedure

Indexed keywords

ACTUATORS; ALGORITHMS; CLOSED LOOP CONTROL SYSTEMS; DAMPING; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MOTION PLANNING; ROBUSTNESS (CONTROL SYSTEMS); TRANSFER FUNCTIONS;

IMPEDANCE CONTROL;

ROBOTIC ASSEMBLY;

EID: 0034865834     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. Impedance control: An approach to ma-nipulation
2. A space robot control with advanced sensor-based capabilities: Terrestrial spin-off
3. An experimental evaluation and comparison of position based force and impedance control, tutorial S5: Force and contact control in robotic systems
4. Contact transition stability in the impedance control
5. Synthesis of impedance control at higher control levels: Algorithms and experiments
6. Robotic arm co-operation for assembling a reticular structure