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ICRA
1995
IEEE

Coupled-System Stability of Flexible-Object Impedance Control

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Coupled-System Stability of Flexible-Object Impedance Control
This paper examines the stability of the exible-object impedance controller when coupled to an arbitrary passive environment. A simple representative system is developed to study the problem based on phenomena observed in a more complex, experimental system. Analysis of this representative system leads to several conclusions regarding factors that limit the achievable impedances of a multi-arm system grasping a common object. The ltering of the external force signals and the e ective mass contributed by the manipulators prove to be two of the important factors. Some general guidelines are developed for the successful application of exible-object impedance control to insure coupledsystem stability. These guidelines are applied to both the representative and experimental systems and veri ed.
David W. Meer, Stephen M. Rock
Added 26 Aug 2010
Updated 26 Aug 2010
Type Conference
Year 1995
Where ICRA
Authors David W. Meer, Stephen M. Rock
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