Extension of impedance matching to nonlinear dynamics of robotic tasks

DOI10.1016/S0167-6911(98)00084-XzbMath0914.93040OpenAlexW2059857205MaRDI QIDQ1285559

Chien Chern Cheah, Hyun-Yong Han, Sadao Kawamura, Suguru Arimoto

Publication date: 28 April 1999

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0167-6911(98)00084-x

zbMATH Keywords

regulationpassivitynonlinear dynamicsrobot dynamicstransientimpedance controlimpedance matchingnegative-feedback

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15) Circuits, networks (94C99)

Related Items (1)

A position/force control for a robot finger with soft tip and uncertain kinematics

Cites Work

• Impedance Control: An Approach to Manipulation: Part III—Applications
• A System Theory Criterion for Positive Real Matrices
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