TY - GEN
T1 - Vector summation of end-point impedance in kinematically redundant manipulators
AU - Gandolfo, Francesca
AU - Mussa-Ivaldi, Ferdinando A.
PY - 1993/12/1
Y1 - 1993/12/1
N2 - One way to control the mechanical interactions between a manipulator and its environment is by specifying the manipulator's end-point impedance. According to this view, the function of a controller is to determine the force that the controlled system should apply in response to an externally-imposed state. In other words, the purpose of a controller is to determine an output force-field. Subsequent studies have suggested the possibility of combining the output force-fields generated by a number of separate controllers in order to approximate an arbitrary output field.
AB - One way to control the mechanical interactions between a manipulator and its environment is by specifying the manipulator's end-point impedance. According to this view, the function of a controller is to determine the force that the controlled system should apply in response to an externally-imposed state. In other words, the purpose of a controller is to determine an output force-field. Subsequent studies have suggested the possibility of combining the output force-fields generated by a number of separate controllers in order to approximate an arbitrary output field.
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M3 - Conference contribution
AN - SCOPUS:0027835766
SN - 0780308239
T3 - 1993 International Conference on Intelligent Robots and Systems
SP - 1627
EP - 1634
BT - 1993 International Conference on Intelligent Robots and Systems
A2 - Anon, null
PB - Publ by IEEE
T2 - Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
Y2 - 26 July 1993 through 30 July 1993
ER -