Title:
Environment Estimation for Enhanced Impedance Control
Environment Estimation for Enhanced Impedance Control
| dc.contributor.author | Love, Lonnie J. | en_US |
| dc.contributor.author | Book, Wayne J. | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2011-05-24T20:06:30Z | |
| dc.date.available | 2011-05-24T20:06:30Z | |
| dc.date.issued | 1995-05 | |
| dc.description | ©1995 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 1995 IEEE International Conference on Robotics and Automation, May 21-27, 1995, Nagoya, Japan. | en_US |
| dc.description | DOI: 10.1109/ROBOT.1995.525537 | en_US |
| dc.description.abstract | Impedance control is a popular method of controlling the dynamic response a robot has to external forces. The advantage of such a control paradigm is the ability to manipulate in both unconstrained and constrained environments. Unlike hybrid control methods that attempt to control forces and motions in orthogonal directions, impedance control consists of a single control law that accommodates external forces. One problem associated with such a controller is the selection of the robot's target impedance. This paper illustrates, through analysis and experimentation, the shortcoming of improper target impedance selection. The integration of a real time estimate of the robot's environment with the impedance controller resolves this problem. Experimental results illustrate improved performance during the transition from unconstrained to constrained manipulation. | en_US |
| dc.identifier.citation | Love, L.J. and W.J. Book, “Environment Estimation for Enhanced Impedance Control,” Proceedings of the 1995 IEEE International Conference on Robotics and Automation, May 21-27, 1995, Vol. 2, 1854-1859. | en_US |
| dc.identifier.isbn | 0-7803-1965-6 | |
| dc.identifier.uri | http://hdl.handle.net/1853/38978 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Impedance control | en_US |
| dc.subject | Environment estimation | en_US |
| dc.subject | Robots | en_US |
| dc.subject | Target selection | en_US |
| dc.title | Environment Estimation for Enhanced Impedance Control | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dc.type.genre | Post-print | |
| dspace.entity.type | Publication | |
| local.contributor.author | Book, Wayne J. | |
| local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
| local.contributor.corporatename | College of Engineering | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
| relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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