Name
Abstract | ||
|---|---|---|
This paper proposes the distributed impedance approach as a new formulation of multiple robot systems control. In this approach, each cooperating manipulator is provided with its own independant impedance controller. In addition, along selected degrees of freedom, force control is achieved through art external loop, in order to improve control of the object's internal loading. Extensive stability analysis is performed based on a realistic model that includes robots impedance and object dynamics.Experiments are performed using two cooperating industrial robots holding an object throught point contacts. Force and position control actions are suitably dispatched to achieve both internal loading control and object position control. The performance of the system is demonstrated for transporting tasks. |
Year | DOI | Venue |
|---|---|---|
1997 | 10.1109/ROBOT.1997.614414 | 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4 |
Keywords | Field | DocType |
robot control,stability analysis,impedance,control systems,degree of freedom,stability | Object dynamics,Robotic systems,Robot control,Control theory,Control theory,Control engineering,Electrical impedance,Impedance control,Control system,Engineering,Robot | Conference |
Volume | Issue | ISSN |
2 | 1 | 1050-4729 |
Citations | PageRank | References |
4 | 0.88 | 9 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jérôme Szewczyk | 1 | 100 | 18.49 |
| Guillaume Morel | 2 | 62 | 15.01 |
| Philippe Bidaud | 3 | 207 | 21.09 |