A FORCE COMMANDED IMPEDANCE CONTROL SCHEME FOR ROBOTS WITH HARD NONLINEARITIES

被引：24

作者：

GONZALEZ, JJ ^{[1
]}

WIDMANN, GR ^{[1
]}

机构：

[1] HUGHES AIRCRAFT CO, GM HUGHES ELECTR CORP, AUTOMOT ELECTR DEV, MALIBU, CA 90265 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 1995年 / 3卷 / 04期

关键词：

D O I：

10.1109/87.481964

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates a hybrid impedance control scheme that utilizes a desired force, rather than a desired position, as the commanded variable, This scheme is examined for a manipulator system in the presence of inherent hardware nonlinearities, and it demonstrates improved performance with respect to an explicit force control structure of a similar degree of robustness. Theoretical conclusions are supported experimentally on a customized Puma 560 Robotic Testbed facility, developed by the authors.

引用

页码：398 / 408

页数：11

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