This three-part paper presents an approach to the control of dynamic interaction between a manipulator and its environment. Part I presented the theoretical reasoning behind impedance control. In Part II the implementation of impedance control is considered. A feedback control algorithm for imposing a desired cartesian impedance on the end-point of a nonlinear manipulator is presented. This algorithm completely eliminates the need to solve the “inverse kinematics problem” in robot motion control. The modulation of end-point impedance without using feedback control is also considered, and it is shown that apparently “redundant” actuators and degrees of freedom such as exist in the primate musculoskeletal system may be used to modulate end-point impedance and may play an essential functional role in the control of dynamic interaction.
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March 1985
Research Papers
Impedance Control: An Approach to Manipulation: Part II—Implementation
Neville Hogan
Neville Hogan
Department of Mechanical Engineering and Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, Cambridge, Mass. 02139
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Neville Hogan
Department of Mechanical Engineering and Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, Cambridge, Mass. 02139
J. Dyn. Sys., Meas., Control. Mar 1985, 107(1): 8-16 (9 pages)
Published Online: March 1, 1985
Article history
Received:
June 1, 1983
Online:
July 21, 2009
Connected Content
This is a companion to:
Stresses in Spur Gear Teeth and Their Strength as Influenced by Fillet
Radius
Citation
Hogan, N. (March 1, 1985). "Impedance Control: An Approach to Manipulation: Part II—Implementation." ASME. J. Dyn. Sys., Meas., Control. March 1985; 107(1): 8–16. https://doi.org/10.1115/1.3140713
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