Abstract
This paper deals with the stiffness control problem for a manipulator actuated by rubber actuators. Two stiffness control methods, the adjusting △ P method and the adjusting P0 method are presented and studied. The adjusting P0 method utilizes the intrinsic flexibility of the rubber actuator to realize the joint stiffness control, which is different from conventional force control methods. Both methods are demonstrated experimentally, and their feasibility is confirmed with experimental results.
| Original language | English |
|---|---|
| Pages (from-to) | 183-188 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 1 |
| State | Published - 1995 |
| Externally published | Yes |
| Event | Proceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5) - Vancouver, BC, Can Duration: 22 Oct 1995 → 25 Oct 1995 |
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