Impedance Control: An Approach to Manipulation: Part I—Theory
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Summary
It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
- Type
- article
- Published
- 1985-03-01
- Cited by
- 3,481
- References
- 27
- OpenAlex
- https://openalex.org/W1967377907
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:27952924
Keywords
Superposition principle, Control theory (sociology), Nonlinear system, Impedance control, Electrical impedance
References
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- Adaptive control of mechanical impedance by coactivation of antagonist muscles
- Active stiffness control of a manipulator in cartesian coordinates
- AMERICAN SOCIETY OF MECHANICAL ENGINEERS
- The Force Vector Assembler Concept
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