Impedance control of redundant drive joints with double actuation
Conference paper
Nagai, K., Shiigi, Y., Ikegami, Y., Loureiro, R. and Harwin, W. 2009. Impedance control of redundant drive joints with double actuation. IEEE International Conference on Robotics and Automation, ICRA '09. Kobe 12 - 17 May 2009 IEEE. pp. 1528-1534 https://doi.org/10.1109/ROBOT.2009.5152472
| Type | Conference paper |
|---|---|
| Title | Impedance control of redundant drive joints with double actuation |
| Authors | Nagai, K., Shiigi, Y., Ikegami, Y., Loureiro, R. and Harwin, W. |
| Abstract | This paper proposes impedance control of redundant drive joints with double actuation (RDJ-DA) to produce compliant motions with the future goal of higher bandwidth. First, to reduce joint inertia, a double-input-single-output mechanism with one internal degree of freedom (DOF) is presented as part of the basic structure of the RDJ-DA. Next, the basic structure of RDJ-DA is further explained and its dynamics and statics are derived. Then, the impedance control scheme of RDJ-DA to produce compliant motions is proposed and the validity of the proposed controller is investigated using numerical examples. |
| Conference | IEEE International Conference on Robotics and Automation, ICRA '09 |
| Page range | 1528-1534 |
| ISBN | |
| Hardcover | 9781424427888 |
| Publisher | IEEE |
| Publication dates | |
| Jul 2009 | |
| Publication process dates | |
| Deposited | 17 Apr 2012 |
| Output status | Published |
| Additional information | Paper presnted at: IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 12-17 May 2009. Proceedings ISSN = 1050-4729. |
| Digital Object Identifier (DOI) | https://doi.org/10.1109/ROBOT.2009.5152472 |
| Language | English |
| Book title | IEEE International Conference on Robotics and Automation, 2009. ICRA '09 |
https://repository.mdx.ac.uk/item/839yx
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