On the implementation of stiffness control on a manipulator using rubber actuators

Zong Guanghua; Liu Rong

On the implementation of stiffness control on a manipulator using rubber actuators

Zong Guanghua^*
, Liu Rong

^*此作品的通讯作者

Peking University

科研成果: 期刊稿件 › 会议文章 › 同行评审

7 引用（Scopus）

摘要

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.

源语言	英语
页（从-至）	183-188
页数	6
期刊	Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
卷	1
出版状态	已出版 - 1995
已对外发布	是
活动	Proceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5) - Vancouver, BC, Can 期限: 22 10月 1995 → 25 10月 1995

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引用此

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title = "On the implementation of stiffness control on a manipulator using rubber actuators",

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.",

author = "Zong Guanghua and Liu Rong",

year = "1995",

language = "英语",

volume = "1",

pages = "183--188",

journal = "Proceedings of the IEEE International Conference on Systems, Man and Cybernetics",

issn = "0884-3627",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5) ; Conference date: 22-10-1995 Through 25-10-1995",

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TY - JOUR

T1 - On the implementation of stiffness control on a manipulator using rubber actuators

AU - Guanghua, Zong

AU - Rong, Liu

PY - 1995

Y1 - 1995

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/0029514938

M3 - 会议文章

AN - SCOPUS:0029514938

SN - 0884-3627

VL - 1

SP - 183

EP - 188

JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

T2 - Proceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5)

Y2 - 22 October 1995 through 25 October 1995

ER -

On the implementation of stiffness control on a manipulator using rubber actuators

摘要

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