Impedance control of a manipulator using torque-controlled lightweight actuators

Impedance control of a manipulator using torque-controlled lightweight actuators
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使用扭矩控制的轻型执行器对机械手进行阻抗控制

DOI：
10.1109/28.175294
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发表时间：
1991
期刊：
Conference Record of the 1991 IEEE Industry Applications Society Annual Meeting
影响因子：
--
通讯作者：
T. Iwakane
T. Iwakane
中科院分区：
--
文献类型：
--
作者：
T. Sakaki;T. Iwakane

文献摘要

被引文献

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从紧凑性和力可控性两个方面研究了一种用于先进机器人的新型驱动器的性能。作者提出了轻量级的电动执行器和紧凑的控制驱动器，其复杂的力控制性能，在执行灵巧和顺从的操作。状态和动态力的可控性所提出的致动器进行了验证的一些阻抗控制实验与三自由度机械手。&lt;<ETX>&gt;
The performance of a novel actuator for advanced robots is studied in terms of its compactness and force controllability. The authors present lightweight electric actuators and compact control drivers, and their sophisticated force control performance in the execution of dexterous and compliant manipulation. State and dynamic force controllability of the proposed actuator is verified by some impedance control experiments with a three degree-of-freedom manipulator.<<ETX>>