Name
Abstract | ||
|---|---|---|
This paper proposes impedance control of redundant Drive joints with double actuation (RDJ-DA) to produce compliant motions with the future goal of higher bandwidth. First, to reduce joint inertia, a double-input-single-output mechanism with one internal degree of freedom (DOF) is presented as part of the basic structure of the RDJ-DA. Next, the basic structure of RDJ-DA is further explained and its dynamics and statics are derived. Then, the impedance control scheme of RDJ-DA to produce compliant motions is proposed and the validity of the proposed controller is investigated using numerical examples. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBOT.2009.5152472 | ICRA |
Keywords | Field | DocType |
basic structure,double-input-single-output mechanism,redundant drive joint,future goal,internal degree,compliant motion,impedance control scheme,proposed controller,double actuation,impedance control,higher bandwidth,actuators,force,robot kinematics,robots,bandwidth,degree of freedom,automatic control,motion control,gears,vibrations,impedance | Motion control,Control theory,Control theory,Statics,Automatic control,Electrical impedance,Control engineering,Impedance control,Inertia,Engineering,Actuator | Conference |
Volume | Issue | ISSN |
2009 | 1 | 1050-4729 |
Citations | PageRank | References |
3 | 0.65 | 3 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kiyoshi Nagai | 1 | 171 | 65.28 |
| Yasuto Shiigi | 2 | 6 | 1.59 |
| Yosuke Ikegami | 3 | 3 | 0.65 |
| Rui Loureiro | 4 | 122 | 19.01 |
| William S. Harwin | 5 | 74 | 18.83 |