Vector summation of end-point impedance in kinematically redundant manipulators

Francesca Gandolfo*, Ferdinando A. Mussa-Ivaldi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication1993 International Conference on Intelligent Robots and Systems
Editors Anon
PublisherPubl by IEEE
Pages1627-1634
Number of pages8
ISBN (Print)0780308239
StatePublished - Dec 1 1993
EventProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: Jul 26 1993Jul 30 1993

Publication series

Name1993 International Conference on Intelligent Robots and Systems

Other

OtherProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityYokohama, Jpn
Period7/26/937/30/93

ASJC Scopus subject areas

  • Engineering(all)

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