Experiments in Object Impedance Control for Flexible Objects

This paper presents a control strategy for manipulation of exible objects by multiple robot arms. The control policy developed in this paper for exible objects is based on a controller developed previously for rigid objects: the object impedance controller. The controller compensates for the dynamics of both the arms and the object and responds to environmental forces with a fully programmable impedance relationship. For a class of exible objects, the required extensions to object impedance control are outlined in this paper. The paper presents experimental results for a dual arm robotic system manipulating an object with a single exible degree of freedom in both free-space and environmental contact tasks.

• Type: Conference
• Year: 1994
• Where: ICRA
• Authors: David W. Meer, Stephen M. Rock
• Keywords: Exible Objects, ICRA 1994, Object Impedance, Object Impedance Controller, Robotics