학술논문
Stiffness control for geared manipulators
Document Type
Conference
Author
Source
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164) Robotics and automation Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on. 3:3042-3046 vol.3 2001
Subject
Language
ISSN
1050-4729
Abstract
This paper presents the results from an experimental investigation into the performance of stiffness control, implemented on a two degree-of-freedom manipulator that uses harmonic drive gears. Stiffness control, which is the simplest form of impedance control, was implemented using force feedback. The results demonstrate the benefits of using force feedback to compensate for static friction effects and for the difficulty in accurately controlling the joint torques for geared manipulators.