Acceleration based force-impedance control

• Type: Article in International Conference Proceedings Book
• Date: 2006

Authors

lopes, am (Author) FEUP; almeida, f (Author) FEUP

Conference proceedings International

Title: Proceedings of the 25th IASTED International Conference on Modelling, Identification, and Control

Pages: 73-81

25th IASTED International Conference on Modelling, Identification and Control

Lanzarote, SPAIN, FEB 06-08, 2006

Indexing

ISI Proceedings

ISI Web of Knowledge - 3 Citations

Scopus - 5 Citations

INSPEC

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-004-QJN

Abstract (EN): An acceleration based force-impedance controller is presented in this paper. The proposed strategy involves three cascade controllers: an inner acceleration controller, an impedance controller, and an outer force controller. This enables two kinds of manipulator behaviour: force limited impedance control and position limited force control. The type of behaviour only depends on the chosen manipulator trajectories. Experimental results of a force-impedance controlled 6-axis parallel manipulator, executing tasks that involve end-effector contact with uncertain environments of unknown stiffness, are presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 9