Object impedance control for cooperative manipulation: theory and experimental results Export

@article{citeulike:511732, abstract = {The dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project for aerospace robotics is presented. The cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. A control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system show the effectiveness of the object impedance controller compared to other strategies, both for free-motion slews and environmental contact}, author = {Schneider, S. A. and Cannon, R. H.}, citeulike-article-id = {511732}, citeulike-linkout-0 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=143355}, journal = {Robotics and Automation, IEEE Transactions on}, keywords = {phd, pneumatics}, number = {3}, pages = {383--394}, posted-at = {2007-03-01 20:06:12}, priority = {2}, title = {Object impedance control for cooperative manipulation: theory and experimental results}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=143355}, volume = {8}, year = {1992} }

TY - JOUR ID - citeulike:511732 L3 - citeulike-article-id:511732 N2 - The dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project for aerospace robotics is presented. The cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. A control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system show the effectiveness of the object impedance controller compared to other strategies, both for free-motion slews and environmental contact IS - 3 JF - Robotics and Automation, IEEE Transactions on EP - 394 TI - Object impedance control for cooperative manipulation: theory and experimental results VL - 8 SP - 383 KW - phd KW - pneumatics AU - Schneider, SA AU - Cannon, RH PY - 1992/// UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=143355 ER -