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Keywords: impedance control
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Journal Articles
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2021, 143(9): 091004.
Paper No: DS-20-1460
Published Online: April 15, 2021
...Curt A. Laubscher; Jerzy T. Sawicki This paper presents a novel impedance controller modified with a switching strategy for the purpose of improving safety in human–robot interactions. Under normal operating conditions, an impedance controller is enabled when adequate tracking performance...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. March 2008, 130(2): 021007.
Published Online: February 29, 2008
..., even if the robot has the same input torque of the shoulder joint as that of a golfer. Unfortunately, such influence has not been considered in the conventional control of a golf swing robot. An impedance control method is proposed for a golf swing robot to emulate different-arm-mass golfers...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. June 2006, 128(2): 414–421.
Published Online: March 29, 2005
... loop systems robust adaptive control robot control stability supervision switching impedance control High-performance robotic control systems need, in general, a dynamical model of the robotic manipulator in order to generate the control input ( 1 ). However, modeling errors may...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2005, 127(4): 564–578.
Published Online: March 9, 2005
...Pushpraj Mani Pathak; Amalendu Mukherjee; Anirvan Dasgupta Impedance control is an efficient and stable method of providing trajectory and force control in robotic systems. The procedure by which the impedance of the manipulator is changed is a very important aspect in the design of impedance based...
