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A theoretical and experimental investigation of impact control for manipulatorsThis article describes a simple control strategy for stable hardon-hard contact of a manipulator with the environment. The strategy is motivated by recognition of the equivalence of proportional gain explicit force control and impedance control. It is shown that negative proportional force gains, or impedance mass ratios less than unity, can equivalently provide excellent impact response without bouncing. This result is indicated by an analysis performed with an experimentally determined arm/sensor/environment model. The results are corroborated by experimental data from implementation of the control algorithms on the CMU DD Arm II system. The results confirm that manipulator impact against a stiff environment without bouncing can be readily handled by this novel control strategy.
Document ID
19930069200
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Volpe, Richard
(JPL Pasadena, CA, United States)
Khosla, Pradeep
(Carnegie Mellon Univ. Pittsburgh, PA, United States)
Date Acquired
August 16, 2013
Publication Date
August 1, 1993
Publication Information
Publication: International Journal of Robotics Research
Volume: 12
Issue: 4
ISSN: 0278-3649
Subject Category
Cybernetics
Accession Number
93A53197
Funding Number(s)
CONTRACT_GRANT: DAAA21-89-C-0001
Distribution Limits
Public
Copyright
Other

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