Passivity-based variable impedance control for redundant manipulators
نویسندگان
چکیده
منابع مشابه
Impedance Control of Redundant Manipulators
This thesis presents research work related to the impedance control of redundant manipulators. The main goal is to study the effects of redundancy on the dynamic behaviour of manipulators. Firstly, theoretical developments related to redundancy, dynamics and impedance control are presented in general form without restriction to any particular manipulator. The purpose is to keep the findings use...
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2020
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2020.12.2692