Low Cost Impedance Controller for Robotic Gripper Drive with DC Motor

被引：0

作者：

Jezierski, Edward ^{[1
]}

机构：

[1] Lodz Univ Technol, Inst Automat Control, Lodz, Poland

来源：

2015 20TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR) | 2015年

关键词：

impedance control; impedance of kinematic chain; soft grasping;

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：

The paper presents an idea of a method of changing the impedance of a DC drive, based on simultaneous estimation of velocity and torque of a motor using analogue technique with use of operational amplifiers. Introducing a changeable feedback allows to obtain a self-regulating impedance of the drive when kinematic chain of a manipulator is approaching to the object. The controller is very simple and low cost.

引用

页码：806 / 811

页数：6

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