A new impedance controller is presented in this work. Special attention has been paid to all those aspects that qualfies 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 (d.0.f) industrial robot, equipped with a force-torque sensor, are given.

Impedance control for industrial robots

FERRETTI, GIANNI;MAGNANI, GIANANTONIO;ROCCO, PAOLO;
2000-01-01

Abstract

A new impedance controller is presented in this work. Special attention has been paid to all those aspects that qualfies 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 (d.0.f) industrial robot, equipped with a force-torque sensor, are given.
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA '00)
0780358864
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/265259
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 18
  • ???jsp.display-item.citation.isi??? ND
social impact