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Impedance control of robots with harmonic drive systemsThe design of an impedance controller based on actuator-level feedback is considered. It is shown that actuator effort (e.g. torque) feedback alone is insufficient to achieve satisfactory contact performance. Instead, combined feedback of actuator effort and motion is sufficient to achieve feedback contact performance.
Document ID
19920046449
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hogan, Neville (MIT Cambridge, MA, United States)
Rasolee, B. A. (McDonnell Douglas Space Systems Co. Seabrook, MD, United States)
Andary, James (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1991
Subject Category
Cybernetics
Meeting Information
Meeting: 1991 American Control Conference
Location: Boston, MA
Country: United States
Start Date: June 26, 1991
End Date: June 28, 1991
Sponsors: American Automatic Control Council
Accession Number
92A29073
Distribution Limits
Public
Copyright
Other

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