제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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- Pages.8-11
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- 1996
Force tracking position-based impedance control of robot manipulator with unknown environment stiffness
- Jung, Seul (Robotics Research Laboratory, Dept. of Electrical and Computer Eng., University of California) ;
- Hsia, T.C. (Robotics Research Laboratory, Dept. of Electrical and Computer Eng., University of California) ;
- Ahn, D.S. (Dept. of Mechanical Eng., Pu Kyung University)
- 발행 : 1996.10.01
초록
In impedance control for contact force tracking it is well known that the reference trajectory of the robot is calculated from known environment stiffness. The accuracy of estimating the environment stiffness determines the performance of the resulting force tracking. Here we present a simple technique, called the trajectory modification technique(TMT), of determining the reference trajectory under the condition that the environment stiffness is unknown. Computer simulation studies have shown that force tracking using the proposed technique is excellent for unknown environment with time varying stiffness.