Impedance control for elastic joints industrial manipulators

IEEE Transactions on Robotics and Automation

Volumn 20, Issue 3, 2004, Pages 488-498

  Ferretti, Gianni ^a   Magnani, GianAntonio ^a   Rocco, Paolo ^a  

^a POLITECNICO DI MILANO   (Italy)

Author keywords

Friction; Impedance control; Industrial robots; Joint elasticity

Indexed keywords

DECENTRALIZED CONTROL; DEGREES OF FREEDOM (MECHANICS); FRICTION; INDUSTRIAL ROBOTS; POSITION CONTROL; SENSORS; THREE TERM CONTROL SYSTEMS; UNIVERSAL JOINTS;

DECENTRALIZED PROPORTIONAL-INTEGRAL-DERIVATIVE POSITION CONTROL; ELASTIC JOINTS INDUSTRIAL MANIPULATORS; IMPEDANCE CONTROL;

MANIPULATORS;

EID: 2942731783     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2004.825472     Document Type: Article

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