Abstract
In this chapter, a first control strategy to manage the interaction of a single robot manipulator with the environment is examined, namely impedance control. First, impedance equations in the operational space are presented and then compared with the task space approach, both for translational and rotational motions. The more general case of a redundant robot is also considered and experimental results are presented to illustrate the beneficial effects of the impedance control during interaction with the environment.
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© 2003 Springer-Verlag Berlin Heidelberg
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(2003). Task Space Impedance Control. In: Interaction Control of Robot Manipulators. Springer Tracts in Advanced Robotics, vol 3. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36155-3_3
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DOI: https://doi.org/10.1007/3-540-36155-3_3
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-00159-1
Online ISBN: 978-3-540-36155-8
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