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Experimental Robotics VI pp 121–130Cite as

Coordinated manipulation under distributed impedance control

  • Chapter 4 Control
  • Conference paper
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

Abstract

Distributed impedance is an efficient approach for controlling any kind of cooperating manipulation system. It combines the advantages of decentralized control solutions and the robustness of impedance control with force feedback. Distributed impedance was implemented on a dualarm system composed of two industrial manipulators. Experimental results were obtained for free and constrained manipulation tasks.

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Author information

Authors and Affiliations

  1. Laboratoire de Robotique de Paris, France

    Jérôome Szewczyk & Philippe Bidaud

Authors
  1. Jérôome Szewczyk
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  2. Philippe Bidaud
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Correspondence to Jérôome Szewczyk .

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© 2000 Springer-Verlag London Limited

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Cite this paper

Szewczyk, J., Bidaud, P. (2000). Coordinated manipulation under distributed impedance control. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119391

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  • DOI: https://doi.org/10.1007/BFb0119391

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

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