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Impedance Control: An Approach to Manipulation
- Source :
- 1984 American Control Conference.
- Publication Year :
- 1984
- Publisher :
- IEEE, 1984.
-
Abstract
- Manipulation fundamentally requires a manipulator to be mechanically coupled to the object being manipulated. A consideration of the physical constraints imposed by dynamic interaction shows that control of a vector quantity such as position or force is inadequate and that control of the manipulator impedance is also necessary. Techniques for control of manipulator behaviour are presented which result in a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance.
Details
- Database :
- OpenAIRE
- Journal :
- 1984 American Control Conference
- Accession number :
- edsair.doi...........9748cd963b22979a75a2ebc38cb1f9f6