Impedance control for industrial robots

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 07 Nov 2002 Italy Publisher:IEEEJournal:Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), volume 4, pages 4,027-4,032

Authors: F. Cecconello; FERRETTI, GIANNI; MAGNANI, GIANANTONIO; ROCCO, PAOLO; G. Rossetti;

doi: 10.1109/robot.2000.845359

handle: 11311/265259

Impedance control for industrial robots

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Abstract

A new impedance controller is presented. Special attention has been paid to all those aspects that qualify an industrial robot, including decentralized PID positional control, torsional flexibility and friction at the joints. Discussion of a single degree of freedom case proved to be valuable in the design of the impedance controller for a complete manipulator. Several experimental results obtained on a 6 degrees-of-freedom industrial robot equipped with a force/torque sensor, are given.

Country

Italy

Related Organizations

Polytechnic University of Milan
Italy

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