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ICRA
1994
IEEE

Experiments in Object Impedance Control for Flexible Objects

9 years 1 months ago
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.
David W. Meer, Stephen M. Rock
Added 08 Aug 2010
Updated 08 Aug 2010
Type Conference
Year 1994
Where ICRA
Authors David W. Meer, Stephen M. Rock
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