OTHER
A new impedance control concept for elastic joint robots
Ryuta Ozawa, Hiroaki Kobayashi
- Year
- 2004
- Citations
- 33
Abstract
The purpose of this paper is to propose a new impedance control concept for elastic joint robots with programmable passive impedance devices in the transmission. The concept allows us to use the same index both for free motion and for contact task. We apply it to a one-DOF elastic joint robot and derive an adjustment law for the robot. The numerical simulations show that implementation of the concept can be realized without any dynamic models.
Keywords
Impedance controlRobotElectrical impedanceJoint (building)Computer scienceTask (project management)Transmission (telecommunications)Control theory (sociology)Control (management)Control engineering
Related papers
OTHER
📊 26,957 cites
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 cites
Artificial intelligence: a modern approach
1995
OTHER
Open access📊 20,501 cites
Fractional Differential Equations
Igor Podlubný
2025
OTHER
📊 18,993 cites
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991