Six-Degree-of-Freedom Impedance Robot Control - Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
نویسندگان
چکیده
This work is focused on impedance control of robot manipulators performing six-degree-of-freedom interaction tasks. An energy-based formulation leads to formally deriving the dynamic equation characterizing a mechanical impedance at the end effector. An inverse dynamics strategy with contact force and moment measurement is adopted to obtain a configurationindependent desired impedance. For given contact force and moment, an impedance control scheme is proposed acting on both translational displacements and rotational displacements where end-effector orientation is described using a singularity-free representation in terms of a unitary quaternion. Experimental results on an industrial robot with open control architecture are presented. Keywords-Robot manipulators; impedance control; inverse dynamics; quaternion.
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