NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Adaptive Impedance Control Of Redundant ManipulatorsImproved method of controlling mechanical impedance of end effector of redundant robotic manipulator based on adaptive-control theory. Consists of two subsystems: adaptive impedance controller generating force-control inputs in Cartesian space of end effector to provide desired end-effector-impedance characteristics, and subsystem implementing algorithm that maps force-control inputs into torques applied to joints of manipulator. Accurate control of end effector and effective utilization of redundancy achieved simultaneously by use of method. Potential use to improve performance of such typical impedance-control tasks as deburring edges and accommodating transitions between unconstrained and constrained motions of end effectors.
Document ID
19940000241
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Seraji, Homayoun
(Caltech)
Colbaugh, Richard D.
(New Mexico State Univ.)
Glass, Kristin L.
(New Mexico State Univ.)
Date Acquired
August 16, 2013
Publication Date
May 1, 1994
Publication Information
Publication: NASA Tech Briefs
Volume: 18
Issue: 5
ISSN: 0145-319X
Subject Category
Machinery
Report/Patent Number
NPO-18606
Accession Number
94B10241
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

Available Downloads

There are no available downloads for this record.
No Preview Available