Force-Impedance Control of Robotic Manipulators

• Type: Article in International Conference Proceedings Book
• Date: 2000

Authors

Fernando Almeida (Author) FEUP; António Lopes (Author) FEUP; Paulo Abreu (Author) FEUP

Conference proceedings International

Title: Proceedings of Controlo 2000, 4th Portuguese Conference on Automatic Control

Pages: 540-545

Controlo 2000, 4th Portuguese Conference on Automatic Control

Guimarães, Portugal, 4 a 6 de Outubro de 2000

Other information

Abstract (EN): New results on a recently proposed control strategy of robotic manipulators are presented in this paper. This novel controller, the force-impedance controller, enables two kinds of behaviour: force limited impedance control and position limited force control. The type of behaviour only depends on the chosen manipulator trajectories. Free space error dynamics and post-contact manipulator dynamics may be chosen independently. Experimental results of a force-impedance controlled parallel manipulator, executing tasks that involve end-effector contact with uncertain environments of unknown stiffness, are presented. Copyright Controlo’ 2000.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6