Generalized impedance of manipulators: its application to force and position control

Abstract

Presents generalized impedance control as a unified approach to position, force and compliance control of robot arms dynamically interacting with an uncertain environment. Generalized impedance control is based on representing the desirable behavior of a manipulator as a general relation between the motion error and the contact force error, referred to as generalized impedance.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>