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Control of Impedance of IREQ's Dextrous Arm

For a manipulator to interact predictably with its environment, it is possible to program its visco-elastic properties by feedback control, so they assume simple forms such as strictly diagonal stiffness and damping matrices. The sensing and actuation system of IREQ's GRLA (General Large Robot Arm, a.k.a the ``Gorilla'' arm, Figure gif) SARCOS manipulator lends itself to decentralized control strategies to achieve this goal. However these strategies cannot in general guarantee the achievement of simple forms for the visco-elastic properties, even when its human-like kinematic redundancy is put to contribution to select the most favorable arm postures. We are proposing a generalization of the basic decentralized control scheme which can achieve any desired form of the stiffness and damping matrices within the limits of the actuators operational capacities.

M. Doyon, V. Hayward

SARCOS GRLA Arm. It has a reach of 1.75 m from shoulder to wrist.



Thierry Baron
Mon Nov 13 10:43:02 EST 1995