MANIPULATION
Disturbance observer based hybrid impedance control
Robert Bickel, Masayoshi Tomizuka
- Year
- 2005
- Citations
- 31
Abstract
Examines a control algorithm that utilizes a disturbance observer based acceleration tracking controller to realize a robust hybrid impedance control of a robot manipulator. Pure impedance control and edge following simulation results are presented.
Keywords
Control theory (sociology)Impedance controlElectrical impedanceAccelerationController (irrigation)Robust controlDisturbance (geology)Computer scienceObserver (physics)Control system
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