Robust implementation of generalized impedance control for robot manipulators

@inproceedings{PChan2001RobustIO,
  title={Robust implementation of generalized impedance control for robot manipulators},
  author={S. P.Chan and H. P.Chen},
  year={2001}
}
Compliant manipulation requires the robot to follow a motion trajectory and to exert a force profile while making compliant contact with a dynamic environment. For this purpose, a generalized impedance in the task space consisting of a second-order function relating motion errors and interaction force errors is introduced such that force tracking can be achieved. Using variable structure model reaching control, the generalized impedance is realized in the presence of parametric uncertainties… CONTINUE READING

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