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.File in questo prodotto:
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