Journal ArticleDOI
Impedance Control: An Approach to Manipulation: Part I—Theory
TLDR
It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.Abstract:
Manipulation fundamentally requires the manipulator to be mechanically coupled to the object being manipulated; the manipulator may not be treated as an isolated system. This three-part paper presents an approach to the control of dynamic interaction between a manipulator and its environment. In Part I this approach is developed by considering the mechanics of interaction between physical systems. Control of position or force alone is inadequate; control of dynamic behavior is also required. It is shown that as manipulation is a fundamentally nonlinear problem, the distinction between impedance and admittance is essential, and given the environment contains inertial objects, the manipulator must be an impedance. A generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from the control of impedance while preserving the superposition properties of the Norton network. It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear.read more
Citations
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Putting energy back in control
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References
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Journal ArticleDOI
Hybrid position/force control of manipulators
M. H. Raibert,J. J. Craig +1 more
TL;DR: A new conceptually simple approach to controlling compliant motions of a robot manipulator that combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system is presented.
Journal ArticleDOI
Compliance and Force Control for Computer Controlled Manipulators
TL;DR: A theory of force control based on formal models of the manipulator and the task geometry is presented, isolating the programmer from the fundamental complexity of low-level manipulator control.
Proceedings ArticleDOI
Active stiffness control of a manipulator in cartesian coordinates
TL;DR: In this article, a method of actively controlling the apparent stiffness of a manipulator end effecter is presented, which allows the programmer to specify the three transnational and three rotational stiffness properties of a frame located arbitrarily in hand coordinates.
Book
System dynamics: A unified approach
TL;DR: Multiport Systems and Bond Graphs Basic Component Models System Models State-Space Equations Analysis of Linear Systems Multiport Fields and Junction Structures
Journal ArticleDOI
Adaptive control of mechanical impedance by coactivation of antagonist muscles
TL;DR: Some biomechanical modeling and analyses are presented leading to a prediction of simultaneous activation of antagonist muscles in the maintenance of upright posture of the forearm and hand and an experimental observation of antagonist coactivation.