Force-Impedance Control of Robotic Manipulators

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2000

Autores

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

Ata de Conferência Internacional

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

Páginas: 540-545

Controlo 2000, 4th Portuguese Conference on Automatic Control

Guimarães, Portugal, 4 a 6 de Outubro de 2000

Outras Informações

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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6