Adaptive Impedance-controlled Manipulator Based on Collision Detection

ty of the proposed method.

作 者： Huang Jianbin Xie Zongwu Jin Minghe Jiang Zainan Liu Hong   作者單位： Huang Jianbin,Xie Zongwu,Jin Minghe,Jiang Zainan(State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150001 Harbin, China)

Liu Hong(State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150001 Harbin, China;Institute of Robotics and Mechatronics, German Aerospace Center, 82230 Wessling, Germany) 

刊 名： 中國航空學報（英文版）  ISTIC 英文刊名： CHINESE JOURNAL OF AERONAUTICS  年，卷(期)： 2009 22(1)  分類號： V2  關鍵詞： flexible manipulators   impedance control   collision avoidance   adaptive control systems   trajectories   safety systems