Article : texte imprimé

Robust impedance control of manipulators carrying a heavy payload

Aghili, Farhad, Auteur |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 132 N° 5, Septembre 2010)

A heavy payload attached to the wrist force/moment (F/M) sensor of a manipulator can cause the conventional impedance controller to fail in establishing the desired impedance due to the noncontact components of the force measurement, i.e., the i[...]

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