1989
DOI: 10.7210/jrsj.7.3_172
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Impedance control of a direct drive manipulator without using force sensors.

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Cited by 16 publications
(10 citation statements)
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“…These weights are tuned by referring to the first author's previous study [4]. The time-varying feedback gains obtained by (11) with these weights are shown in Fig. 8 (c) An experimental result is shown in Fig.…”
Section: Methodsmentioning
confidence: 98%
See 1 more Smart Citation
“…These weights are tuned by referring to the first author's previous study [4]. The time-varying feedback gains obtained by (11) with these weights are shown in Fig. 8 (c) An experimental result is shown in Fig.…”
Section: Methodsmentioning
confidence: 98%
“…It remains some safety problems as mentioned in Section 1. Reference [7] proposed another impedance control method by referring to [11]. The following impedance control law based on acceleration measurement was applied in [7]:…”
Section: Force Sensorless Control Based Icmmentioning
confidence: 99%
“…Another adaptive force estimation approach is given in [15]. Estimation of the robot joint velocities and accelerations together with a dynamic model are used to perform impedance control without a force sensor in [17].…”
Section: Estimating External Forcesmentioning
confidence: 99%
“…Nakahara and Takahashi also proposed a similar control method for a powerassisted cart [8]. In this study, we take into account the previous method utilizes the acceleration pickup for detecting the acceleration ofthe cart and refer to the method proposed by Tachi, et al [9]. The method in [9] realizes the impedance control by the acceleration measurement.…”
Section: Introductionmentioning
confidence: 99%
“…It was applied to manipulator control. Then, this study proposes a force sensorless control method for the control problem in [4] on the basis of the method in [9]. In this method, a simple Coulomb friction compensation is also included.…”
Section: Introductionmentioning
confidence: 99%