Using impedance controlled robots for simulating manipulation tasks occurring in a gravityless environment

Reza Vossoughi, Max Donath

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

The use of impedance-controlled robots for simulating inertial loading effects is investigated. This is specifically of interest for replicating manipulation tasks occurring in a gravityless environment on the ground where gravitational forces exist. Results based on a simplified linear robot model are obtained. A description is given of some of the limitations as well as some necessary conditions for maintaining stability during manipulative interactions between a robot carrying out a task and a robot providing inertial response on a manipulated payload.

Original languageEnglish (US)
Title of host publicationProc 90 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages62-67
Number of pages6
ISBN (Print)0818620617
StatePublished - Dec 1 1990
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: May 13 1990May 18 1990

Other

OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period5/13/905/18/90

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  • Cite this

    Vossoughi, R., & Donath, M. (1990). Using impedance controlled robots for simulating manipulation tasks occurring in a gravityless environment. In Proc 90 IEEE Int Conf Rob Autom (pp. 62-67). Publ by IEEE.