- Tytuł:
- Impedance controllers for electri - driven robots
- Autorzy:
-
Jezierski, E.
Gmerek, A. - Powiązania:
- https://bibliotekanauki.pl/articles/384369.pdf
- Data publikacji:
- 2013
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
impedance controller
admittance controller
2DOF manipulator
BLDC drive - Opis:
- This article presents a proposal of impedance controller, which is able to infulence the compliance of a robot, based on information obtained from a lowlevel controller about robot interaction with the environment. The proposed system consists of a lowlevel controller with proximity sensor, based on which mechanical impedance is adjusted. The intention of the creators was to develop a universal impedance regulator in the sense of hardware and software layers. Because of TCP/IP architecture, the designed regulator can be easily adapted to different robot controllers. Experiments were conducted on a real 1-DOF manipulator driven by BLDC motor, as well as using simulation on a 2DOF planar robot.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 4; 13-20
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł