IMPEDANCE CONTROL - AN APPROACH TO MANIPULATION .1. THEORY
IMPEDANCE CONTROL - AN APPROACH TO MANIPULATION .1. THEORY
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DOI：
10.1115/1.3140702
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发表时间：
1985-01-01
影响因子：
1.7
通讯作者：
HOGAN, N
中科院分区：
文献类型：
--
作者：
HOGAN, N
这三部分的论文提出了一种方法来控制机械手和它的环境之间的动态相互作用。第一部分介绍了阻抗控制背后的理论推理。在第二部分中，考虑阻抗控制的实现。提出了一种在非线性机械臂端点施加期望机械臂阻抗的反馈控制算法。该算法完全消除了在机器人运动控制中求解“逆运动学问题”的需要。调制的端点阻抗，而不使用反馈控制也被认为是，它表明，显然是“冗余”的致动器和自由度，如存在于灵长类动物的肌肉骨骼系统可用于调制端点阻抗，并可能发挥重要的功能作用，在控制的动态相互作用。
This three-part paper presents an approach to the control of dynamic interaction between a manipulator and its environment. Part I presented the theoretical reasoning behind impedance control. In Part II the implementation of impedance control is considered. A feedback control algorithm for imposing a desired cartesian impedance on the end-point of a nonlinear manipulator is presented. This algorithm completely eliminates the need to solve the “inverse kinematics problem” in robot motion control. The modulation of end-point impedance without using feedback control is also considered, and it is shown that apparently “redundant” actuators and degrees of freedom such as exist in the primate musculoskeletal system may be used to modulate end-point impedance and may play an essential functional role in the control of dynamic interaction.