Name
Abstract | ||
|---|---|---|
In the paper, a new method named Cartesian Space Synchronous Impedance Control (CSSIC) has been developed. The method combines the synchronous control and the impedance control together which can not only be used in the position control but can also realize the purpose of force control of the system with multi-manipulators. Therefore, if there are multi-manipulators grasping the same object, it can ensure the object will not fall and not be destroyed. The mathematical validation process and the stability proof of the method have been given. Besides, an experiment setup which has two 7-DOF robot arms has been established to testify the method. The testing result shows that the dual arm system, under disturbance, can ensure stable grasping of the object with the CSSIC method. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/IROS.2014.6943238 | IROS |
Keywords | Field | DocType |
cartesian space synchronous impedance control,7-dof robot arm manipulators,multi-robot systems,stability proof,cssic method,force control,manipulators,multimanipulators,position control,mathematical validation process | Robot control,Robotic arm,Control theory,Computer science,Robot kinematics,Control engineering,Robot end effector,Impedance control,Cartesian coordinate robot,Arm solution,Cartesian coordinate system | Conference |
ISSN | Citations | PageRank |
2153-0858 | 1 | 0.35 |
References | Authors | |
4 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Minghe Jin | 1 | 1 | 1.70 |
| Zijian Zhang | 2 | 1 | 1.02 |
| Fenglei Ni | 3 | 26 | 8.22 |
| Hong Liu | 4 | 502 | 79.68 |