OTHER
A Bilinear Model for Joint Impedance Control in Contact Tasks
Zhiwei Luo, Koji Ito, Masami Itō, Atsuo Kato
- Year
- 1991
- Citations
- 3
- Access
- Open access
Abstract
This paper studies on a bilinear model for joint impedance control in contact tasks. It is proved that in order for robot to operate on dynamic objects smoothly without any oscillation, adjustment of the antagonist coactivation is useful.
Keywords
CoactivationControl theory (sociology)Bilinear interpolationJoint (building)Impedance controlComputer scienceElectrical impedanceRobotOscillation (cell signaling)Control (management)
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