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dc.contributor.author | Zotovic Stanisic, Ranko | es_ES |
dc.contributor.author | Valera Fernández, Ángel | es_ES |
dc.date.accessioned | 2015-01-15T14:15:28Z | |
dc.date.available | 2015-01-15T14:15:28Z | |
dc.date.issued | 2012-07 | |
dc.identifier.issn | 0263-5747 | |
dc.identifier.uri | http://hdl.handle.net/10251/46107 | |
dc.description.abstract | This work is dedicated to the analysis of the application of active impedance control for the realisation of three objectives simultaneously: velocity regulation in free motion, impact attenuation and finally force tracking. At first, a brief analysis of active impedance control is made, deducing the value of each parameter in order to achieve the three objectives. It is demonstrated that the system may be made overdamped with the adequate selection of the parameters if the characteristics of the environment are known, avoiding high overshoots of force during the impact. The second and most important contribution of this work is an additional measure for impact control in the case when the characteristics of the environment are unknown. It consists in switching among different values of the parameters of the impedance in order to dissipate faster the energy of the system, limiting the peaks of force and avoiding losses of contact. The optimal switching criteria are deduced for every parameter in order to dissipate the energy of the system as fast as possible. The results are verified in simulation. © 2011 Cambridge University Press. | es_ES |
dc.description.sponsorship | The authors want to express their gratitude to the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) for the partial financing of this work under the projects DPI2009-13830-C02-01 and DPI2010-20814-C02-02. | en_EN |
dc.language | Inglés | es_ES |
dc.publisher | Cambridge University Press (CUP) | es_ES |
dc.relation.ispartof | Robotica | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject | Force control | es_ES |
dc.subject | Impact | es_ES |
dc.subject | Impedance control | es_ES |
dc.subject | Robot control | es_ES |
dc.subject | Switching | es_ES |
dc.subject | Active impedance | es_ES |
dc.subject | Force tracking | es_ES |
dc.subject | Free motion | es_ES |
dc.subject | Impact control | es_ES |
dc.subject | Mechanical impedances | es_ES |
dc.subject | Optimal switching | es_ES |
dc.subject | Robot controls | es_ES |
dc.subject | Computer applications | es_ES |
dc.subject | Robotics | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.title | Adjusting the parameters of the mechanical impedance for velocity, impact and force control | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1017/S0263574711000725 | |
dc.relation.projectID | info:eu-repo/grantAgreement/MICINN//DPI2009-13830-C02-01/ES/Modelado Cinematico Y Dinamico Del Movimiento De Los Tejidos Blandos. Aplicacion Al Diseño De Modelos Biomecanicos (Desarrollo E Implementacion De Modelos)/ / | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/MICINN//DPI2010-20814-C02-02/ES/IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION AL CONTROL Y LA NAVEGACION AUTOMATICA/ | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica | es_ES |
dc.description.bibliographicCitation | Zotovic Stanisic, R.; Valera Fernández, Á. (2012). Adjusting the parameters of the mechanical impedance for velocity, impact and force control. Robotica. 30(4):10-25. doi:10.1017/S0263574711000725 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | http://dx.doi.org/10.1017/S0263574711000725 | es_ES |
dc.description.upvformatpinicio | 10 | es_ES |
dc.description.upvformatpfin | 25 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 30 | es_ES |
dc.description.issue | 4 | es_ES |
dc.relation.senia | 206433 | |
dc.contributor.funder | Ministerio de Ciencia e Innovación | es_ES |
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