Impedance Control: An Approach to Manipulation
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Cites background from "Impedance Control: An Approach to M..."
...The potential field concept is indeed an attractive approach to the collision avoidance problem and much research has recently been focused on its applications to robot control (Kuntze and Schill 1982; Hogan 1984; Krogh 1984)....
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Cites methods from "Impedance Control: An Approach to M..."
...This is achieved using impedance control, a key feature of the robot control system [20]....
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"Impedance Control: An Approach to M..." refers background in this paper
...... sufficiently largeseparations between the end-effector andobjects intheenvironment (see figure2b).Thisisprecisely thetypeof non-invertible, nonl inearforce/displacement behaviour forwhichnoinverse compliance form exists.Theconcept oftuning theend-point stiffness anddamping ofamanipulator hasbeen discussed intheliterature underthegeneral heading of"compliance"', "compliant motion control", "finemotioncontrol", or ......
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