Impedance control of redundant drive joints with double actuation
Nagai, Kiyoshi and Shiigi, Y. and Ikegami, Yosuke and Loureiro, Rui C. V. and Harwin, William (2009) Impedance control of redundant drive joints with double actuation. In: IEEE International Conference on Robotics and Automation, 2009. ICRA '09. IEEE, pp. 1528-1534. ISBN 9781424427888
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Official URL: http://dx.doi.org/10.1109/ROBOT.2009.5152472
This paper proposes impedance control of redundant drive joints with double actuation (RDJ-DA) to produce compliant motions with the future goal of higher bandwidth. First, to reduce joint inertia, a double-input-single-output mechanism with one internal degree of freedom (DOF) is presented as part of the basic structure of the RDJ-DA. Next, the basic structure of RDJ-DA is further explained and its dynamics and statics are derived. Then, the impedance control scheme of RDJ-DA to produce compliant motions is proposed and the validity of the proposed controller is investigated using numerical examples.
|Item Type:||Book Section|
Paper presnted at: IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 12-17 May 2009. Proceedings ISSN = 1050-4729.
|Research Areas:||Science & Technology > Science & Technology|
|Deposited On:||17 Apr 2012 04:47|
|Last Modified:||30 Sep 2013 10:52|
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