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Cooperative impedance control with time-varying stiffness

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/13193

Cooperative impedance control with time-varying stiffness

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Title: Cooperative impedance control with time-varying stiffness
Author: Courtney, Matthew
Advisor(s): Starr, Gregory
Committee Member(s): Lumia, Ron
Russell, John
Department: University of New Mexico. Dept. of Mechanical Engineering
Subject: Impedance Control
Variable Stiffness
Cooperation
torque-based
LC Subject(s): Manipulators (Mechanism)--Automatic control.
Impedance (Electronics)
Degree Level: Masters
Abstract: The focus of much automation research has been to design controllers and robots that safely interact with the environment. One approach is to use impedance control to specify a relationship between a robot's motion and force and control a grasped object's apparent stiffness, damping, and inertia. Conventional impedance control practices have focused on position-based manipulators - which are inherently non-compliant - using constant, task-dependent impedances. In the event of large trajectory tracking errors, this implementation method generates large interaction forces that can damage the workcell. Additionally, these position-based devices require dedicated force/torque sensors to measure and apply forces. In this paper, we present an alternative impedance controller implemented on cooperating torque-based manipulators. Through the use of time-varying impedance parameters, this controller limits the interaction forces to ensure harmless manipulation. Successful completion of transport and insertion tasks demonstrated the effectiveness of the controller.
Graduation Date: July 2010
URI: http://hdl.handle.net/1928/13193


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