Meny

Javascript is not activated in your browser. This website needs javascript activated to work properly.
Du är här

Observer-Based Impedance Control in Robotics

Författare:
Publiceringsår: 2002
Språk: Engelska
Sidor: 369-374
Publikation/Tidskrift/Serie: Nonlinear Control Systems 2001
Dokumenttyp: Konferensbidrag
Förlag: Elsevier

Sammanfattning

This paper presents theoretical and experimental results onobserver-based impedance control. Impedance control is a technique for robot force control, which is often used to deal with geometric uncertainty. The aim of this technique is to obtain a dynamic relation between position and force in interaction similar to Newton's second law. Here the velocity is used to modify the damping of the impedance relation.Since the velocity is not measurable, which is often the case for industrial robots, an observer is designed to reconstruct it. A good model of the robot joint used is obtained by system identification. Results on observer-based SPR feedback are applied in the design, and the stability issue is approached by a modified Popov criterion.The experiments are carried out on an ABB industrial robot 2000 at the Department of Automatic Control in Lund, Sweden.

Disputation

Nyckelord

  • Technology and Engineering

Övriga

Published
Yes

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
lu [at] lu [dot] se

Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
Om webbplatsen