Model reference impedance control of robotic manipulators

Abstract

A model reference impedance controller which requires neither a dynamic model of the robot nor torque controlled actuators has been implemented on an industrial manipulator. The controller has been implemented on a six-degree-of-freedom industrial arm. No model of the manipulator dynamics was required, just an underlying controller capable of tracking a specified path in joint space. The bandwidth of the impedance control will be limited by the bandwidth of the manipulator and its underlying position controller.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>