{"title":"机械阻抗控制机械手在工作空间坐标下的稳定性","authors":"D. Grunberg, H. Spang, M. Athans","doi":"10.1109/CDC.1984.272174","DOIUrl":null,"url":null,"abstract":"The design of a controller for the implementation of impedance control for small interaction forces is considered. Impedance control refers to the specification of the mechanical impedance of the manipulator seen from the environment. The stability of the complete system with coordinate transformations is analyzed and a method for reducing the effect of Jacobian matrices with large condition numbers on stability test conservativeness is derived. An actual implementation of a stiffness controller (zero mass and damping) on the Rhino XR-1 robot is described.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"36 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Stability of mechanical impedence controlled manipulators in workspace coordinates\",\"authors\":\"D. Grunberg, H. Spang, M. Athans\",\"doi\":\"10.1109/CDC.1984.272174\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The design of a controller for the implementation of impedance control for small interaction forces is considered. Impedance control refers to the specification of the mechanical impedance of the manipulator seen from the environment. The stability of the complete system with coordinate transformations is analyzed and a method for reducing the effect of Jacobian matrices with large condition numbers on stability test conservativeness is derived. An actual implementation of a stiffness controller (zero mass and damping) on the Rhino XR-1 robot is described.\",\"PeriodicalId\":269680,\"journal\":{\"name\":\"The 23rd IEEE Conference on Decision and Control\",\"volume\":\"36 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1984-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"The 23rd IEEE Conference on Decision and Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CDC.1984.272174\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 23rd IEEE Conference on Decision and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.1984.272174","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Stability of mechanical impedence controlled manipulators in workspace coordinates
The design of a controller for the implementation of impedance control for small interaction forces is considered. Impedance control refers to the specification of the mechanical impedance of the manipulator seen from the environment. The stability of the complete system with coordinate transformations is analyzed and a method for reducing the effect of Jacobian matrices with large condition numbers on stability test conservativeness is derived. An actual implementation of a stiffness controller (zero mass and damping) on the Rhino XR-1 robot is described.
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