Transactions of the Society of Instrument and Control Engineers
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
A Bilinear Model for Joint Impedance Control in Contact Tasks
Zhi-wei LUO, Koji ITO, Masami ITO, Atsuo KATO
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Keywords: antagonist coactivation, bilinear model, joint impedance control, dynamic objects
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1991 Volume 27 Issue 9 Pages 1070-1072

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Abstract
This paper studies on a bilinear model for joint impedance control in contact tasks. It is proved that in order for robot to operate on dynamic objects smoothly without any oscillation, adjustment of the antagonist coactivation is useful.
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© The Society of Instrument and Control Engineers (SICE)
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