Synthesis of Hybrid Impedance Control Strategies for Robot Manipulators

[+] Author and Article Information
Michel Pelletier

Division Robotique, IREQ Institut de recherche d’Hydro-Québec, 1740 boul.Lionel-Boulet Varennes, Québec, Canada J3X 1S1

J. Dyn. Sys., Meas., Control 118(3), 566-571 (Sep 01, 1996) (6 pages) doi:10.1115/1.2801181 History: Received December 05, 1994; Online December 03, 2007


This paper presents a new method to automatically synthesize robot compliant motions based on hybrid impedance control. The scheme relies on decoupled linear impedance models of the robot and the environment, in which the errors due to control, task frame estimation, as well as environment uncertainty are explicitly taken into account. The technique consists of selecting appropriate manipulator impedances to match the environment dynamics and satisfy all the task goals. Two experimental examples of this methodology are presented.

Copyright © 1996 by The American Society of Mechanical Engineers
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