The impedance control of a finger joint in a robot hand is the main issue being addressed in this paper. Based on pole placement techniques, the proposed method guarantees uniformity of response upon contact, for any contact stiffness. Contact stiffness is related to the compliance combining the effects of the drive and the finger/environment interaction. The mechanical nonlinearities (i. e. , Coulomb friction, nonlinear damping) in the drive are also modelled. The parameters of the model are then identified off-line and used for on-line estimation of the frictional loads. The estimation results are then used in real time for compensation of the nonlinearities. The technique is implemented on the actual system under investigation, and the results are presented.
|Original language||English (US)|
|Number of pages||11|
|State||Published - Dec 1 1985|