Experiments in Object Impedance Control for Flexible Objects
نویسندگان
چکیده
This paper presents a control strategy for manipulation of exible objects by multiple robot arms. The control policy developed in this paper for exible objects is based on a controller developed previously for rigid objects: the object impedance controller. The controller compensates for the dynamics of both the arms and the object and responds to environmental forces with a fully programmable impedance relationship. For a class of exible objects, the required extensions to object impedance control are outlined in this paper. The paper presents experimental results for a dual arm robotic system manipulating an object with a single exible degree of freedom in both free-space and environmental contact tasks.
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