期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
DOI：10.5772/51308
语种：English
出版社：SAGE Publications
摘要：This paper presents a weighted path planning approach for a light weight robot coming into compliant contact with the environment, as well as robot-environment interaction enabled impedance control. Using a joint torque sensor, Cartesian impedance control is introduced to realize the manipulator compliance control. Then the weighted path planning approach is developed to detect the contact condition and to control the interaction. Experiments are carried out on a 5-DOF light weight manipulator. The experimental results validate the developed control approach enhanced by the weighted path planning scheme.
