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  • Robust impedance control
    Hace, Aleš ; Jezernik, Karel ; Uran, Suzana
    Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, a need for control algorithms with position tracking performance and the force control ... ability appears. Up to date a lot of algorithms were proposed which deal with robot motion and force control. In this paper a robust impedance control law based on an attractive theory of sliding mode is proposed. The control law guarantees a robot predefined impedance and therefore a force regulation based on the possessed impedance properties is feasible. The proposed impedance controller is used in a force-tracking task. Experimental results on a simple IDOF mechanism and 3DOF direct drive robot mechanism are reported.
    Source: Proceedings of the 1998 IEEE International Conference on Control Applications, September 1-4, 1998, Trieste, Italy (Vol. I, str. 583-587)
    Type of material - conference contribution
    Publish date - 1998
    Language - english
    COBISS.SI-ID - 3893526

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