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ID 14194
file
creator
Kaneko, Makoto
subject
Impedance control
manipulators
motion-planning
redundancy
robot dynamics
robot vision systems
NDC
Chemistry
abstract
This paper proposes an impedance control methodthat can regulate a virtual impedance between a robot manipulatorand external objects using visual information. Theconventional impedance control method is not useful in somecases where no interaction force between the arm and its environmentexists, although it is one of the most effective controlmethods for manipulators in contact with the environment. Usingthe proposed method, we can control the manipulator motionbased on the virtual impedance before contact with the objects.The validity of the proposed method is verified through computersimulations and experiments using a direct-drive robot.
journal title
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
volume
Volume 29
issue
Issue 2
start page
184
end page
193
date of issued
1999
publisher
IEEE
issn
1083-4427
language
eng
nii type
Journal Article
HU type
Journal Articles
DCMI type
text
format
application/pdf
text version
publisher
rights
Copyright (c) 1999 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
relation is version of URL
http://dx.doi.org/10.1109/3468.747853
department
Graduate School of Engineering