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dc.contributor.authorCourtney, Matthew
dc.date.accessioned2011-08-31T17:51:12Z
dc.date.available2011-08-31T17:51:12Z
dc.date.issued2011-08-31
dc.date.submittedJuly 2010
dc.identifier.urihttp://hdl.handle.net/1928/13193
dc.description.abstractThe 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.sponsorshipDepartment of Energy - University Research Program in Roboticsen_US
dc.language.isoen_USen_US
dc.subjectImpedance Controlen_US
dc.subjectVariable Stiffnessen_US
dc.subjectCooperationen_US
dc.subjecttorque-baseden_US
dc.subject.lcshManipulators (Mechanism)--Automatic control.
dc.subject.lcshImpedance (Electronics)
dc.titleCooperative impedance control with time-varying stiffnessen_US
dc.typeThesisen_US
dc.description.degreeMechanical Engineeringen_US
dc.description.levelMastersen_US
dc.description.departmentUniversity of New Mexico. Dept. of Mechanical Engineeringen_US
dc.description.advisorStarr, Gregory
dc.description.committee-memberLumia, Ron
dc.description.committee-memberRussell, John
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