Abstract
Manipulation fundamentally requires a manipulator to be mechanically coupled to the object being manipulated. A consideration of the physical constraints imposed by dynamic interaction shows that control of a vector quantity such as position or force is inadequate and that control of the manipulator impedance is also necessary. Techniques for control of manipulator behaviour are presented which result in a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance.
Keywords
Impedance controlControl theory (sociology)ObstacleComputer scienceManipulator (device)Position (finance)Control (management)Object (grammar)Electrical impedanceControl engineeringObstacle avoidanceMotion controlRobotEngineeringArtificial intelligenceMobile robot
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Publication Info
- Year
- 1984
- Type
- article
- Citations
- 2833
- Access
- Closed
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Cite This
Neville Hogan
(1984).
Impedance Control: An Approach to Manipulation.
.
https://doi.org/10.23919/acc.1984.4788393
Identifiers
- DOI
- 10.23919/acc.1984.4788393