18 search results - page 1 / 4 » Base force torque sensing for position based Cartesian imped... |
IROS
2009
IEEE
13 years 11 months ago
2009
IEEE
Abstract— In this paper, a position based impedance controller (i.e. admittance controller) is designed by utilizing measurements of a force/torque sensor, which is mounted at th...
ICRA
2003
IEEE
13 years 10 months ago
2003
IEEE
— This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— In this paper, an approach to interaction control of a robot manipulator with a partially known environment is proposed. The environment is a rigid object of known geometry but...
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— The principle of Series Elastic Actuation offers considerable advantages for haptic displays compared to stiff actuators. The interaction force between motor and load is direct...
CDC
2008
IEEE
13 years 6 months ago
2008
IEEE
This paper deals with the pull-in control and the nanopositioning of an electrostatically actuated NEMS (Nano Electromechanical System) squeezed between two forces. It is shown tha...