Impedance Control for Industrial Robot Manipulators under Collision with Environment

カテゴリ: 部門大会

論文No: Y-45

グループ名: 【D】平成17年電気学会産業応用部門大会講演論文集

発行日: 2005/08/29

著者名: CHITBANCHONG SATIT (長岡技術科学大学),KIYOSHI OHISHI (長岡技術科学大学),SEIICHIRO KATSURA (長岡技術科学大学)

キーワード: impedance control|robot manipulator|interaction control|D-PD control

要約(日本語): The proposal of this paper is the design of impedance control for interaction between manipulator and environment when robot is in moving condition.A single degree of freedom of robot manipulator is used in the experiment to verify the proposed impedance

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