Distributed impedance is an efficient approach for controlling any kind of cooperating manipulation system. It combines the advantages of decentralized control solutions and the robustness of impedance control with force feedback. Distributed impedance was implemented on a dualarm system composed of two industrial manipulators. Experimental results were obtained for free and constrained manipulation tasks.
Coordinated manipulation under distributed impedance control
Lect Notes Control Inf Sci
30.04.2008
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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