Admittance enhancement in force feedback of dynamic systems

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2002, Pages 638-643

  Dohring, Mark ^a   Newman, Wyatt ^a  

^a Case Western Reserve University   (United States)

Author keywords

Experiment; Mechanical filter; NAC; Passivity

Indexed keywords

END EFFECTORS; FORCE CONTROL; ROBOTIC ASSEMBLY; SPEED CONTROL; STIFFNESS MATRIX; TRACKING (POSITION);

ADMITTANCE ENHANCEMENT; FORCE FEEDBACK; IMPEDANCE CONTROL; MECHANICAL FILTER;

FEEDBACK;

EID: 0036057748     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. Historical perspective and state of the art in robot force control
2. Impedance control: An approach to manipulation: Parts I, II, and III-theory, implementation, and applications
3. Force feedback control of manipulator fine motions
4. The control of dynamically interacting systems
5. Stability and performance limits of interaction controllers
6. Force guided assemblies using a novel parallel manipulator
7. On dynamic models of force control
8. Series elastic actuators
9. Series elastic actuators