Direct adaptive impedance control including transition phases

DOI10.1016/S0005-1098(96)00190-2MaRDI QIDQ1361319zbMATH OpenOpenAlexFDO

Authors Carlos Canudas-de-Wit, B. Brogliato

Publication date 23 July 1997

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0005-1098(96)00190-2

zbMATH Keywords

global asymptotic stabilityforce/position taskintegral force feedbacktime-varying impedancetwo-degree-of-freedom planar manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

Recommendations

• Direct adaptive impedance control of robot manipulators
• An adaptive impedance/force controller for robot manipulators
• Adaptive force control of robot manipulators
• Impedance Control: An Approach to Manipulation: Part III—Applications

Cites work

• Adaptive force control of robot manipulators
• Feedback stabilization and tracking of constrained robots
• Force/position regulation of compliant robot manipulators
• Impedance Control: An Approach to Manipulation: Part III—Applications
• On the control of finite-dimensional mechanical systems with unilateral constraints

Cited in

(6)

• Direct adaptive impedance control of robot manipulators
• Gain Control by Concerted Changes in I_A and I _H Conductances
• Velocity observers for nonlinear mechanical systems subject to nonsmooth impacts
• Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment
• Improving performance of saturation-based PID controllers for rigid robots
• A dynamics formulation of general constrained robots

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