Deformation-tracking impedance control in interaction with uncertain environments (Contributo in atti di convegno)

Type
Label
  • Deformation-tracking impedance control in interaction with uncertain environments (Contributo in atti di convegno) (literal)
Anno
  • 2013-01-01T00:00:00+01:00 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#doi
  • 10.1109/IROS.2013.6696621 (literal)
Alternative label
  • Roveda, Loris; Vicentini, Federico; Molinari Tosatti, Lorenzo (2013)
    Deformation-tracking impedance control in interaction with uncertain environments
    in IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo Big Sight, Japan, November 3-8, 2013
    (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori
  • Roveda, Loris; Vicentini, Federico; Molinari Tosatti, Lorenzo (literal)
Pagina inizio
  • 1992 (literal)
Pagina fine
  • 1997 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#url
  • http://www.scopus.com/record/display.url?eid=2-s2.0-84893813362&origin=inward (literal)
Rivista
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#pagineTotali
  • 6 (literal)
Note
  • ISI Web of Science (WOS) (literal)
  • Scopu (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni
  • Consiglio Nazionale delle Ricerche; Politecnico di Milano (literal)
Titolo
  • Deformation-tracking impedance control in interaction with uncertain environments (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#isbn
  • 9781467363587 (literal)
Abstract
  • A deformation-tracking impedance control strategy is discussed for applications where a manipulator interacts with environments of unknown geometrical and mechanical properties, especially with stiffness comparable to a controlled robot stiffness. Based on force-tracking impedance controls, the deformation-tracking strategy allows the control of a desired deformation of the target environment, requiring the on-line estimation of the environment stiffness. An Extended Kaiman Filter is used for the estimation of the environment because of measurement uncertainties and errors in compound interaction model. The tasks presented involve full body spatial interactions with a time-varying environment stiffness. The Extended Kaiman Filter and the deformat ion-tracking impedance control are validated in simulation and with experiments. In particular, a cooperative assembly task is also performed with a human operator acting as varying environment, i.e. unpredictably changing the handling arm stiffness. © 2013 IEEE. (literal)
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