A limitation of position based impedance control in static force regulation: theory and experiments

Heinrichs, Bradley E.; Sepehri, Nariman

doi:10.1109/robot.1999.770427

Cited by 8 publications

(2 citation statements)

References 12 publications

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“…There are two kinds of impedance control, one is the position based impedance control, and the other is force based impedance control. The target impedance used here is the position-based and the mathematical formula of the desired position-based impedance control system is shown in the below [7]: ( )…”

Section: Impedance Controlmentioning

confidence: 99%

Adaptive Impedance Control for a Tendon-Sheath-Driven Compliant Gripper

Wang¹,

Wang²

2014

AMM

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This paper investigates the feasibility of adaptive impedance control scheme for compliant gripper. A compliant gripper was designed for manipulation tasks requiring precision position and force control. The gripper is actuated by tendon-sheath transmission system and use strain gages to measure both the displacement and gripping force. Position based impedance control is used to control the contact force to made the gripper more compliantly. Due to the nonlinear of the structure; it is difficult to establish the mathematic model and kinematical equations. Therefore, combine model reference adaptive control strategy with impedance control to realize the soft control of the compliant gripper.

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Section: Impedance Controlmentioning

confidence: 99%

Adaptive Impedance Control for a Tendon-Sheath-Driven Compliant Gripper

Wang¹,

Wang²

2014

AMM

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“…We concentrate on those approaches which instead of joint torque control use a positional interface which is existing for industrial robots, see e.g. Heinrichs and Sepehri (1999) or Ferretti et al (2004). Such an interface allows in each sampling step to send positional commands and to receive measurements of the current position (see e.g.…”

Section: Introductionmentioning

confidence: 99%

Is Impedance-Based Control Suitable for Trajectory Smoothing?

Lange

Frommberger

Hirzinger

2006

IFAC Proceedings Volumes

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The paper discusses the difference between explicit sensor-based control and impedance control, using an example of fast vision-based contour tracking. While explicit sensor-based control may cause a rough desired robot path with sharp vertices, impedance control is known to filter the trajectory at the expense of a bigger control error. We present a new implementation and a new approach to impedance-based control where the latter turns out to produce smooth trajectories with small control errors. Both methods are independent of actual control errors but only depend on the desired speed and the sensed shape of the contour.

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Control of constraint forces and trajectories in a rich sensory and actuation environment

Hemami

Dariush

2010

Mathematical Biosciences

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A limitation of position based impedance control in static force regulation: theory and experiments

Cited by 8 publications

References 12 publications

Adaptive Impedance Control for a Tendon-Sheath-Driven Compliant Gripper

Adaptive Impedance Control for a Tendon-Sheath-Driven Compliant Gripper

Is Impedance-Based Control Suitable for Trajectory Smoothing?

Control of constraint forces and trajectories in a rich sensory and actuation environment

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