An adaptive impedance controller for robot manipulators in task space

被引：0
|
作者：
Xu, WM
Shao, C
Chai, TY
机构：
来源：
PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4 | 1996年
关键词：
task space; end-effector; redundant; impedance control; stability;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper develops an adaptive impedance controller for robot end-effecters performing tasks in Cartesian space, which dose not requires any knowledge of either the structure or the parameters of the manipulator dynamic and is implemented without calculation of the robot inverse kinematic transformation. The scheme is computationally efficient and is implementable with both nonredundant and redundant manipulators.
引用
收藏
页码：392 / 393
页数：2
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