Synthesis of impedance control laws at higher control levels: algorithms and experiments

摘要

Describes the algorithms for the integration of a position based impedance control scheme in conventional industrial robot control systems. The new control functions which support programming, specification and monitoring compliance motion control are presented. These control functions constitute a powerful framework for executing most contact tasks with relatively low efforts. The experiments with SPARCO control systems and the CAT arm are included to demonstrate the performance of the control algorithms.