IEEE - Institute of Electrical and Electronics Engineers, Inc. - Experiments on impedance control of redundant manipulators

Proceedings of ISIE '99. IEEE International Symposium on Industrial Electronics

Author(s): Nemec, B. ; Zlajpah, L.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1999
Conference Location: Bled, Slovenia, Slovenia
Conference Date: 12 July 1999
Volume: 1
ISBN (Paper): 0-7803-5662-4
DOI: 10.1109/ISIE.1999.801772
Regular:

In the paper, the authors present experimental results of force control using a planar 4 DOF redundant robot. A globally stable impedance force control law is used to control force and trajectory... View More

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