Abstract
The goal of this work is to present the results of an experimental study of impedance control schemes for a robot manipulator in contact with the environment. Six-degree-of-freedom interaction tasks are considered which require the implementation of a spatial impedance described in terms of both its translational and its rotational part. Two representations of end-effector orientation are adopted; namely, Euler angles or quaternions, and the implications on the choice of different orientation displacements are discussed. The controllers are tested on an industrial robot with open control architecture in a number of case studies.
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© 1998 Springer-Verlag London Limited
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Caccavale, F., Natale, C., Siciliano, B., Villani, L. (1998). Experiments of spatial impedance control. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112953
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DOI: https://doi.org/10.1007/BFb0112953
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Online ISBN: 978-3-540-40920-5
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