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Cooperative impedance control with time-varying stiffness


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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dc.contributor.author Courtney, Matthew
dc.date.accessioned 2011-08-31T17:51:12Z
dc.date.available 2011-08-31T17:51:12Z
dc.date.issued 2011-08-31
dc.date.submitted July 2010
dc.identifier.uri http://hdl.handle.net/1928/13193
dc.description.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. en_US
dc.description.sponsorship Department of Energy - University Research Program in Robotics en_US
dc.language.iso en_US en_US
dc.subject Impedance Control en_US
dc.subject Variable Stiffness en_US
dc.subject Cooperation en_US
dc.subject torque-based en_US
dc.subject.lcsh Manipulators (Mechanism)--Automatic control.
dc.subject.lcsh Impedance (Electronics)
dc.title Cooperative impedance control with time-varying stiffness en_US
dc.type Thesis en_US
dc.description.degree Mechanical Engineering en_US
dc.description.level Masters en_US
dc.description.department University of New Mexico. Dept. of Mechanical Engineering en_US
dc.description.advisor Starr, Gregory
dc.description.committee-member Lumia, Ron
dc.description.committee-member Russell, John

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