Name
Abstract | ||
|---|---|---|
In this letter, a cascaded loop force control is implemented on a robot while considering the flexibility of the force sensor connecting the end effector to the tool. A classical frequency approach using a bandwidth and a phase margin is used to tune this controller. The aim is to find an equivalence between the proposed control law and a classical impedance control law. The apparent impedance of ... |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/LRA.2018.2801472 | IEEE Robotics and Automation Letters |
Keywords | DocType | Volume |
Impedance,Force,Robot sensing systems,Force sensors,DC motors,Service robots | Journal | 3 |
Issue | Citations | PageRank |
3 | 1 | 0.37 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sylvain Devie | 1 | 1 | 0.37 |
| Pierre-Philippe Robet | 2 | 1 | 1.38 |
| Yannick Aoustin | 3 | 148 | 25.63 |
| Maxime Gautier | 4 | 477 | 76.28 |