Mechanical impedance is the dynamic generalization of stiffness, and determines interactive behavior by definition. Although the argument for explicitly controlling impedance is strong, impedance control has had only a modest impact on robotic manipulator control practice. This is due in part to the fact that it is difficult to select suitable impedances given tasks. A spatial impedance control...

This paper introduces an analysis of the phenomena of stability of synchronous machines under small perturbations by examining the case of a single machine connected to a large system through external impedance, and uses robust control H∞ techniques to design stabilizer for electric power system. H techniques that are used are H -optimal controller synthesis, H mixed sensitivity controller synt...

Continuous soft robots are becoming more and more widespread in applications, due to their increased safety and flexibility in critical applications. The possibility of having soft robots that are able to change their stiffness in selected parts can help in situations where higher forces need to be applied. This paper describes a theoretical framework for learning the desired stiffness characte...

In this paper, a method for optimizing the number and the configuration of control sources in an active control system is proposed. In the optimization process, sources are selected one by one so that the corresponding transfer impedance vector is the most linearly independent. From the results of the simulation, it is shown that the optimized configuration yields not only small average control...

The impedance control of dual-arm 7-DOF cooperative manipulators is considered in this paper. Global compliant behavior for the whole system is achieved using impedance at three levels, i.e. object, end-effector and body level. A centralized impedance control strategy is provided to confer a compliant behavior to the object, while an active decentralized impedance with force tracking control is...

nasonovia ribisnigri (mosely) is one of the most important pests of the lettuce plant and it was reported for the first time in ahvaz in 2008. in order to investigate the dominant species of its natural enemies and their population fluctuations, sample were taken arbitrarily from fifty plants twice a week during the growing season in 2010-2012. in this study, ten species of predators, three spe...

Impedance control is a compliance control strategy capable of accommodating both unconstrained and constrained motions. The performance of impedance controllers depends heavily upon environment dynamics and the choice of target impedance. To maintain performance for a wide range of environments, target impedance needs to be adjusted adaptively. In this paper, a geometric view on impedance contr...