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Impedance Control: An Approach to Manipulation: Part II—Implementation
Abstract
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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Cited by
Control strategies for active lower extremity prosthetics and orthotics: a review
Tucker, M. R., Olivier, J., Pagel, A., Bleuler, H., Bouri, M., Lambercy, O., Millán, J. D. R., Riener, R., Vallery, H., & Gassert, R. (2015) · Journal of NeuroEngineering and Rehabilitation · doi:10.1186/1743-0003-12-1 · Cited by 1,047
“A leading theory regarding physiological movement is that the CNS controls th e limbs through impedance control [204,205].”
BackgroundVariable Stiffness Actuators: Review on Design and Components
Wolf, S., Grioli, G., Eiberger, O., Friedl, W., Grebenstein, M., Hoppner, H., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., et al. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2015.2501019 · Cited by 459
Dentronics: Towards robotics and artificial intelligence in dentistry
Grischke, J., Johannsmeier, L., Eich, L., Griga, L., & Haddadin, S. (2020) · Dental Materials · doi:10.1016/j.dental.2020.03.021 · Cited by 221
A Comprehensive Realization of Robot Skin: Sensors, Sensing, Control, and Applications
Cheng, G., Dean-Leon, E., Bergner, F., Rogelio Guadarrama Olvera, J., Leboutet, Q., & Mittendorfer, P. (2019) · Proceedings of the IEEE · doi:10.1109/jproc.2019.2933348 · Cited by 209
Metadata
- Authors
- Hogan, N.
- Venue
- Journal of Dynamic Systems, Measurement, and Control
- Publisher
- ASME International
- Published
- 1985-03-01
- Volume
- 107
- Issue
- 1
- Pages
- 8-16
- ISSN
- 0022-0434 (ISSN-L)
- 1528-9028
- OpenAlex
- W2017239762
- Cited by
- 973
- References
- 0
- FWCI
- 7.29
- Type
- journal article
- Language
- en
- Open access
- closed
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- Hogan, N. (1985). Impedance Control: An Approach to Manipulation: Part II—Implementation. Journal of Dynamic Systems, Measurement, and Control. https://doi.org/10.1115/1.3140713
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
