Method of controlling mechanical impedance of end effector of robotic manipulator related to method described in "Adaptive Impedance Control of Redundant Manipulators" (NPO-18606). Present method does not require detailed knowledge and computation of dynamics and inverse kinematic transformation of manipulator. Provides for control globally stable in presence of bounded disturbances. Applicable to both nonredundant and redundant manipulators performing tasks involving impacts between manipulator and objects in its environment, and controlled contact between end effector and object, such as deburring.


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    Titel :

    Direct Adaptive Impedance Control Of Redundant Manipulators


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    01.01.1995



    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :




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    Passivity-based variable impedance control for redundant manipulators

    Michel, Youssef / Ott, Christian / Lee, Dongheui | Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2020

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